Navigation::AUV::Navigation::Arguments Struct Reference

Detailed Description

Task arguments.

Public Attributes
float	pos_noise
float	lbl_noise
std::vector< double >	gps_noise
double	usbl_noise
std::string	elabel_imu
unsigned	navg_speed
float	rpm_ini
float	rpm_max
double	alignment_index
double	alignment_diff
double	heading_buffer_value
bool	abort
bool	rpm_estimation
bool	speed_relation_Limit
double	speed_relation_limit_value
float	distance_depth_sensor

Member Data Documentation

abort

bool Navigation::AUV::Navigation::Arguments::abort

Abort if navigation exceeds maximum uncertainty.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

alignment_diff

double Navigation::AUV::Navigation::Arguments::alignment_diff

Heading alignment sensor diff threshold.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

alignment_index

double Navigation::AUV::Navigation::Arguments::alignment_index

Heading bias uncertainty alignment threshold.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

distance_depth_sensor

float Navigation::AUV::Navigation::Arguments::distance_depth_sensor

Distance of Depth sensor to the veicle pitch rotation axis.

Referenced by Navigation::AUV::Navigation::Task::logData(), and Navigation::AUV::Navigation::Task::Task().

elabel_imu

std::string Navigation::AUV::Navigation::Arguments::elabel_imu

IMU entity label.

Referenced by Navigation::AUV::Navigation::Task::onEntityResolution(), Navigation::AUV::Navigation::Task::sendDeActiveIMU(), and Navigation::AUV::Navigation::Task::Task().

gps_noise

std::vector<double> Navigation::AUV::Navigation::Arguments::gps_noise

GPS measurement noise covariance values.

Referenced by Navigation::AUV::Navigation::Task::onUpdateParameters(), Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::updateKalmanGpsParameters().

heading_buffer_value

double Navigation::AUV::Navigation::Arguments::heading_buffer_value

Diff threshold - buffer of values for threshold validation.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

lbl_noise

float Navigation::AUV::Navigation::Arguments::lbl_noise

LBL measurement noise when tactical grade IMU enabled.

Referenced by Navigation::AUV::Navigation::Task::consume(), Navigation::AUV::Navigation::Task::onUpdateParameters(), and Navigation::AUV::Navigation::Task::Task().

navg_speed

unsigned Navigation::AUV::Navigation::Arguments::navg_speed

Number of samples to average forward speed.

Referenced by Navigation::AUV::Navigation::Task::onResourceInitialization(), and Navigation::AUV::Navigation::Task::Task().

pos_noise

float Navigation::AUV::Navigation::Arguments::pos_noise

Position process noise when tactical grade IMU is enabled.

Referenced by Navigation::AUV::Navigation::Task::consume(), Navigation::AUV::Navigation::Task::onUpdateParameters(), and Navigation::AUV::Navigation::Task::Task().

rpm_estimation

bool Navigation::AUV::Navigation::Arguments::rpm_estimation

Activate RPM to m/s estimation.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

rpm_ini

float Navigation::AUV::Navigation::Arguments::rpm_ini

Revolutions to speed factor.

Referenced by Navigation::AUV::Navigation::Task::getRpmToMs(), Navigation::AUV::Navigation::Task::setup(), Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

rpm_max

float Navigation::AUV::Navigation::Arguments::rpm_max

Maximum revolutions to speed variation.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

speed_relation_Limit

bool Navigation::AUV::Navigation::Arguments::speed_relation_Limit

Activate RPM to m/s % limit on estimation.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

speed_relation_limit_value

double Navigation::AUV::Navigation::Arguments::speed_relation_limit_value

Value RPM to m/s limit on estimation.

Referenced by Navigation::AUV::Navigation::Task::Task(), and Navigation::AUV::Navigation::Task::task().

usbl_noise

double Navigation::AUV::Navigation::Arguments::usbl_noise

USBL measurement noise covariance value.

Referenced by Navigation::AUV::Navigation::Task::runKalmanUSBL(), and Navigation::AUV::Navigation::Task::Task().

Collaboration diagram for Navigation::AUV::Navigation::Arguments: