A generic AUV.
- AUV Fins (``0``)
Takes in a 5 length vector. The first element is the right fin angle from -45 to 45 degrees, then top, left, and bottom. The last element is the “thruster” with a value of -100 to 100.
COMCenter of mass
DVLSocketLocation of the DVL
IMUSocketLocation of the IMU.
DepthSocketLocation of the depth sensor.
SonarSocketLocation of the sonar sensor.
Viewportwhere the robot is viewed from.