WaterCurrent

class suave.water_current.WaterCurrent

Publish a low-impact sinusoidal current vector.

__init__()

Initialize water-current parameters, publisher, and timer.

compute_heading(elapsed)

Return the mean heading plus sinusoid and noise in radians.

publish_current()

Publish the current vector projected onto horizontal axes.

publish_diagnostics(current)

Publish the current vector as a diagnostic QA status.

status_cb(msg)

Start advancing the current schedule when GUIDED is reached.

Methods

__init__()	Initialize water-current parameters, publisher, and timer.
compute_heading(elapsed)	Return the mean heading plus sinusoid and noise in radians.
publish_current()	Publish the current vector projected onto horizontal axes.
publish_diagnostics(current)	Publish the current vector as a diagnostic QA status.
status_cb(msg)	Start advancing the current schedule when GUIDED is reached.

Attributes