17   The MaxDepth Behavior


17.1 Configuration Parameters
17.2 Variables Published
17.3 The MaxDepth Objective Function


This behavior will drive the vehicle within a configured depth tolerance. This behavior merely expresses a preference for a particular depth. If other behaviors also have a depth preference, coordination/compromise will take place through the multi-objective optimization process.

This behavior differs from the maximum depth in the OpRegion behavior. In the MaxDepth behavior, an objective function is produced to prevent the vehicle from exceeding the maximum depth, perhaps tempering other behaviors that may prefer deeper depths. In the OpRegion behavior there is no attempt to influence the vehicle depth, but rather only to monitor the observed depth and produce an error if the depth is exceeded.

The following parameters are defined for this behavior:

17.1   Configuration Parameters    [top]


Listing 17.1 - Configuration Parameters Common to All Behaviors.

activeflag:A MOOS variable-value pair posted when the behavior is in the active state. Section 6.5.4.
condition:Specifies a condition that must be met for the behavior to be running. Section 6.5.1.
duration:Time in behavior will remain running before declaring completion. Section 7.2.6.
duration_idle_decay:When true, duration clock is running even when in the idle state. Section 7.2.6.
duration_reset:A variable-pair such as MY_RESET=true, that will trigger a duration reset. See Section 7.2.6.
duration_status:The name of a MOOS variable to which the vehicle duration status is published. Section 7.2.6.
endflag:A MOOS variable-value pair posted when the behavior has completed. Section 6.5.4.
idleflag:A MOOS variable-value pair posted when the behavior is in the idle state. Section 6.5.4.
inactiveflag:A MOOS variable-value posted when the behavior is not in the active state. Section 6.5.4.
name:The (unique) name of the behavior. Section 7.2.2.
nostarve:Allows a behavior to assert a maximum staleness for a MOOS variable Section 7.2.9.
perpetual:If true allows the behavior to to run even after it has completed. Section 7.2.7.
post_mapping:Re-direct behavior output normally to one MOOS variable to another instead. Section 7.2.4.
priority:The priority weight of the behavior. Section 7.2.3.
pwt:Same as priority.
runflag:A MOOS variable and a value posted when a behavior has met its conditions. Section 6.5.4.
spawnflag:A MOOS variable and a value posted when a behavior is spawned. Section 6.5.4.
templating:Turns a behavior into a template for spawning behaviors dynamically. Section 7.7.
updates:A MOOS variable from which behavior parameter updates are read dynamically. Section 7.2.5.

Listing 17.2 - Configuration Parameters for the MaxDepth Behavior.

ParameterDescription
basewidth:The width of the base, in meters, in the produced ZAIC-style IvP function. Section 17.3.
max_depth:The maximum allowable depth of the vehicle, in meters.
tolerance:Another way (alias) of setting the basewidth parameter Section 17.3.
depth_slack_var:Name of the MOOS variable indicating the present delta between the maximum depth and the current depth. Section 17.2.

Listing 17.3 - Example Configuration Block.

 Behavior = BHV_MaxDepth
 {
   // General Behavior Parameters
   // ---------------------------
   name      = maxdepth
   pwt       = 1000
   condition = MODE==ACTIVE

   // Parameters specific to this behavior
   // ------------------------------------
         max_depth = 80              // example (meters)
         tolerance = 100             // default (meters)
   depth_slack_var = DEPTH_SLACK     // example
 }

17.2   Variables Published    [top]


The behavior may be optionally configured to publish a variable indicating the discrepancy between the maximum allowed depth and the actual observed depth. The MOOS variable is named using the depth_slack_var parameter. This variable will only be published when the behavior is in the running state.

17.3   The MaxDepth Objective Function    [top]


See Figure 8.1.

  • basewidth: The width of the base, in meters in the produced objective function. The default is 100. See Figure 37.6 for more on the basewidth parameter used in the ZAIC tool for building IvP functions.
  • tolerance: This is an alias, or another way of specifying the basewidth parametr.

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