MIT Marine Autonomy Lab : Manifest

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Library: lib_ivpbuild

Brief Synopsis:

A library with utilities for build IvP Functions.

Authors:

Michael Benjamin

Groups:

MOOS-IvP, Libraries, Core Autonomy, IvPBuild Toolbox

Apps dependent on this library: (12)

aloghelm, alogview, pHelmIvP, uFunctionVis, uHelmScope, zaic_hdg, zaic_hleq, zaic_peak, zaic_spd, zaic_vect, bngview, obview.

Distribution:

moos-ivp.org

Documentation:

http://oceanai.mit.edu/ivpman/ivpbuild

Contact Email:

mikerb@mit.edu, issues@mit.edu

Function:

The IvPBuild Toolbox is set of classes and utility functions to aid behavior developers in the generation of IvP Functions within their behaviors. Ultimately any behavior that wishes to influence the trajectory of the vehicle must produce an IvP function as output. All IvP functions are piecewise linearly defined, and must be in a particular format to be accepted by the IvP solver. The IvPBuild Toolbox simplifies the generation of these functions by providing tools that accept a finite set of parameters and produce syntactically valid instances of an IvP function. One set of utilities (the ZAIC classes) facilitate the generation of IvP functions in 1 dimension. Another set of utilities (the Reflector tools) facilitate the generation of IvP functions in (N>1) dimensions.