Group: Helm Behaviors


Total Lines of Code: 37,383

Total Files of Code: 267

Total Work Years: 8.37


Group Description: (25 modules)

The IvP Helm is a behavior based architecture where missions are comprised of one or more behaviors influencing the sequence of heading and speed decisions (and depth if an underwater vehicle). This group of modules comprises the behaviors presently distributed with the IvP Helm.

Documentation:

Distribution:

  • moos-ivp.org

Modules:

  • BHV_AvdColregs: A behavior for avoiding collision based on CPA and COLREGS considerations.
  • BHV_AvoidCollision: A behavior for avoiding collision based primarily on CPA considerations.
  • BHV_ConstantDepth: A behavior for specifying the desired depth of the vehicle.
  • BHV_ConstantHeading: A behavior for specifying the desired heading of the vehicle.
  • BHV_ConstantSpeed: A behavior for specifying the desired speed of the vehicle.
  • BHV_CutRange: A behavior intercepting, closing range, to another moving vessel.
  • BHV_GoToDepth: A behavior for specifying a sequence of desired depths of the vehicle.
  • BHV_Loiter: A behavior for repeatedly traversing a given convex polygon of waypoints.
  • BHV_MaxDepth: A behavior to influence the vehicle to go no deeper than a given depth.
  • BHV_MemoryTurnLimit: A behavior preventing quick wrap-around turns, especiall with towed sensor.
  • BHV_OpRegion: A behavior monitoring vehicle position to remain within a convex polygon region.
  • BHV_PeriodicSpeed: A behavior for periodically influencing the vehicle speed.
  • BHV_PeriodicSurface: A behavior for periodically influencing the vehicle to surface.
  • BHV_Shadow: A behavior matching the heading and speed of a contact vehicle.
  • BHV_StationKeep: A behavior for holding a vehicle at a given position.
  • BHV_TestFailure: A behavior designed to fail, to test the helm's handling of a behavior failure.
  • BHV_Timer: A behavior for posting to the MOOSDB based on other events or timing.
  • BHV_Trail: A behavior for maneuvering ownship at a relative bearing and range to a contact.
  • BHV_Waypoint: A behavior for traversing a given set of waypoints.

  • lib_behaviors-colregs: A library holding the COLREGS collision avoidance behavior implementation.
  • lib_behaviors-marine: A library holding most of the IvP behaviors of MOOS-IvP.
  • lib_behaviors: A library containing superclass code for all IvP behaviors.
  • lib_bhvutil: A library holding several utility classes used by behaviors.
  • lib_contacts: A library implementing the node report message structure.
  • lib_geometry: Core geometry libraries for autonomy behaviors and GUIs. Includes CPAEngine.