Boost Example
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/format.hpp>
Reference - OPENSEA
Reference - OPENSEA
openINS Configuration
openINS is the navigation engine that provides a full state estimate of the system based on the available navigation sensor inputs. openINS uses a multi-state Kalman filter, as well as several pre-filters, to fuse aiding sensor data with high-rate inertial data provided by the IMU/Gyro. It requires several configuration files to specify application parameters, communication channels, sensor parameters, and system transforms.
The openINS configuration files are contained in /usr/local/bin/openins_config.
openCMD Configuration
openCMD is the openSEA application used to calculate the low-level single degree of freedom maneuvering solution based on the high-level instructions provided by openMNGR. Several configuration files are required by the openCMD application to configure communication channels, application execution parameters, and the profiles for the individual degrees of freedom.
The openCMD configuration files are contained in /usr/local/bin/opencmd_config.
openMNGR Configuration
openMNGR is the openSEA application used for high-level motion control and vehicle control state arbitration. openMNGR communicates with the topside system to receive joystick commands, operator interface commands, autopilot commands, and mission plans to calculate determine the single degree of freedom commands required. It relies on several configuration files to specify its communication channels, input scaling parameters, and application alarms.
Greensea's Modular Software Architecture
The Process Server and Process Client
