The desired speed, u_desired, is a variable in the hybridpath guidance system, that sets the desired speed of the vessel. This variable is mission specific, and should therefore be decided by the mission_planner. This task consists of finding a good way to achieve that and to implement it.
Suggested Workflow
Get an overview of the hybridpath guidance node and how u_desired is used in the node.
Take a look at the mission_planner, and think of ways to link it to the hybridpath guidance node.
Something to consider is the ability to change the desired speed based on where we are on the track, for example lower the speed when we are closing in on the last waypoint.
Specifications
No response
Contacts
Contact @Andeshog if you have any questions regarding this task.
Code Quality
[ ] Every function in header files are documented (inputs/returns/exceptions)
[ ] The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
[ ] The code is documented on the wiki (provide link)
Description of task
The desired speed,
u_desired, is a variable in the hybridpath guidance system, that sets the desired speed of the vessel. This variable is mission specific, and should therefore be decided by themission_planner. This task consists of finding a good way to achieve that and to implement it.Suggested Workflow
u_desiredis used in the node.mission_planner, and think of ways to link it to the hybridpath guidance node.Specifications
No response
Contacts
Contact @Andeshog if you have any questions regarding this task.
Code Quality