navcon_msgs/DOFIdentification Action

int32 Surge=0
int32 Sway=1
int32 Heave=2
int32 Roll=3
int32 Pitch=4
int32 Yaw=5

#The identification GOAL
int32 dof # Desired DOF to identify
float32 command # Output force/torque to command in the relay
float32 hysteresis # Hysteresis of the control relay
float32 reference # State value around which to oscilate
float32 sampling_rate # The desired sampling frequency for operation (Hz)
---
#The identification result
int32 dof # The identified DOF
float32 alpha # inertial parameter
float32 beta # linear damping coefficient
float32 betaa # quadratic damping coefficient
float32 delta # the disturbance estimate
float32 wn # the natural frequency of the oscillations
---
#The feedback result
int32 dof # current DOF
int32 oscillation_num # Number of performed oscillations
float32 error # Average certainty error