<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">%=====================================================================
\section{The ConstantDepth Behavior}
%=====================================================================
\wikisec{grp=bhvsolo, file=BehaviorConstDepth,short=ConstantDepth Behavior}
\label{bhv_constdepth}
\index{IvP Behaviors Implemented!\var{BHV\_ConstantDepth}}
\index{ConstantDepth Behavior}

This behavior will drive the vehicle at a specified depth.  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.  The
following parameters are defined for this behavior:

%======================================================================
\subsection{Configuration Parameters}
\label{sec_const_dep_params}

\input{includes/bhv_all_properties}

\begin{listing}{Configuration Parameters for the ConstantDepth Behavior}
\label{lst_bhv_const_depth}
\small
\renewcommand{\arraystretch}{1.15}
\begin{longtable}{rp{0.76\textwidth}} 

  {\bf Parameter} &amp; {\bf Description} \\  

  \bvar{basewidth}: &amp; The width of the base, in meters, in the produced
  ZAIC-style IvP function. Section \ref{sec_const_dep_ipf}. \\
  
  \bvar{depth}: &amp; The desired depth of the vehicle, in meters. \\

  \bvar{duration}: &amp; Behavior duration, in seconds. Mandatory
  configuration for this behavior. Section \ref{sec_const_dep_duration}. \\

  \bvar{peakwidth}: &amp; The width of the peak, in meters, in the produced
  ZAIC-style IvP function. Section \ref{sec_const_dep_ipf}. \\

  \bvar{summitdelta}: &amp; The height of the summit delta parameter in the
  produced ZAIC-style IvP function. See Figure
  \ref{zaic-peak-overview-fig}. Section \ref{sec_const_dep_ipf}. \\

  \bvar{depth\_mismatch\_var}: &amp; Name of the MOOS variable indicating
  the present delta between the desired depth and the current
  depth. Section \ref{sec_const_dep_pubs}. 
\end{longtable}
\end{listing}
\normalsize

\vspace{0.15in}
\begin{listing}{Example Configuration Block}
\label{lst_bhv_const_dep_ex}

\begin{fileverb}
Behavior = BHV_ConstantDepth
{
  // General Behavior Parameters
  // ---------------------------
  name         = const_dep_survey   // example
  pwt          = 100                // default
  condition    = MODE==SURVEYING    // example
  updates      = CONST_DEP_UPDATES  // example

  // Parameters specific to this behavior
  // ------------------------------------
           basewidth = 100          // default
               depth = 0            // default
  depth_mismatch_var = DEPTH_DIFF   // example
            duration = 0            // default
           peakwidth = 3            // default
         summitdelta = 50           // default
}
\end{fileverb}
\end{listing}

%====================================================================
\subsection{Variables Published}
\label{sec_const_dep_pubs}

The behavior may be optionally configured to publish a variable
indicating the discrepancy between the requested depth and the actual
observed depth.  The MOOS variable is named using the
\bvar{depth\_mismatch\_var} parameter.  This variable will only be
published when the behavior is in the running state.


%====================================================================
\subsection{The \bvar{duration} Parameter}
\label{sec_const_dep_duration}

The \bvar{duration} parameter defined for all general behaviors, but
for this behavior, specification is mandatory for safety reasons. The
default if not specified is 0 seconds which will result in the
behavior completing immediately. If no duration limit is desired,
e.g., if the behavior is tied to another behavior or event via
condition variables, then setting \bvar{duration=no-time-limit} will
result in no time duration checks for this behavior.

%====================================================================
\subsection{The ConstantDepth Objective Function}
\label{sec_const_dep_ipf}

See Figure \ref{zaic-peak-overview-fig}.

\begin{itemize}

\item \bvar{basewidth}: The width of the base, in meters in the
  produced objective function. The default is 100.  See Figure
  \ref{zaic-peak-overview-fig} for more on the basewidth parameter
  used in the ZAIC tool for building IvP functions.

\item \bvar{peakwidth}: The width of the peak in meters in the
  produced objective function. The default is 3. See Figure
  \ref{zaic-peak-overview-fig} for more on the peak parameter used in
  the ZAIC tool for building IvP functions.

\item \bvar{summitdelta}: The width of the base, in meters in the
  produced objective function. The default is 50.  See Figure
  \ref{zaic-peak-overview-fig} for more on the summitdelta parameter
  used in the ZAIC tool for building IvP functions.

\end{itemize}
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