#include <armarx/navigation/core/NavigationStackGeneralConfig.h>

Public Member Functions
virtual aron::data::DictPtr	toAron () const

virtual	~GeneralConfig ()=default

Static Public Member Functions
static GeneralConfig	FromAron (const aron::data::DictPtr &dict)

Public Attributes
float	boundaryVelocity = 150
	Speed the profile is floored at [mm/s].

float	cornerLimit = 35

float	cornerVelocity = 200

bool	enableRampingCorners = true

bool	enableRampingEnd = true

bool	enableRampingStart = true

float	goalVelocity = 10
	Speed the profile is allowed to fall to at the goal [mm/s].

float	inCollisionDistanceThresholdForRecovery {100.0F}
	Maximum distance [mm] to search for a valid recovery position when robot starts in collision.

core::TwistLimits	maxVel {.linear = 200.F, .angular = 0.2F}
	max velocity

core::TwistLimits	minVel {.linear = 0.F, .angular = 0.F}

bool	navigateCloseAsPossible {false}
	If true and the goal is not reachable, navigate to the closest reachable position instead of failing.

TrajectoryParametrization	parametrization {TrajectoryParametrization::Ramping}
	How the planned velocity profile is (re-)assigned before execution.

float	rampLength {1000}

Detailed Description

Definition at line 54 of file NavigationStackGeneralConfig.h.

Constructor & Destructor Documentation

◆ ~GeneralConfig()

virtual ~GeneralConfig ( )

virtualdefault

Member Function Documentation

◆ FromAron()

GeneralConfig FromAron ( const aron::data::DictPtr & dict )

static

Definition at line 41 of file NavigationStackGeneralConfig.cpp.

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◆ toAron()

aron::data::DictPtr toAron ( ) const

virtual

Definition at line 31 of file NavigationStackGeneralConfig.cpp.

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Member Data Documentation

◆ boundaryVelocity

float boundaryVelocity = 150

Speed the profile is floored at [mm/s].

Needed at the start: a GlobalTrajectory assigns a velocity to a position, so v(s = 0) = 0 is a fixed point – the controller looks up zero at the pose it is standing in, commands zero, and the robot never leaves the start.

Definition at line 78 of file NavigationStackGeneralConfig.h.

◆ cornerLimit

float cornerLimit = 35

Definition at line 96 of file NavigationStackGeneralConfig.h.

◆ cornerVelocity

float cornerVelocity = 200

Definition at line 70 of file NavigationStackGeneralConfig.h.

◆ enableRampingCorners

bool enableRampingCorners = true

Definition at line 68 of file NavigationStackGeneralConfig.h.

◆ enableRampingEnd

bool enableRampingEnd = true

Definition at line 67 of file NavigationStackGeneralConfig.h.

◆ enableRampingStart

bool enableRampingStart = true

Definition at line 66 of file NavigationStackGeneralConfig.h.

◆ goalVelocity

float goalVelocity = 10

Speed the profile is allowed to fall to at the goal [mm/s].

The start's argument does not apply here: nothing has to get the robot moving again once it is at the goal, and a floor of boundaryVelocity there is precisely what it overshoots on. The feed-forward tracks the profile up to the last waypoint, so the robot arrives at the goal still commanded at that speed; the controller's final-segment law then steps the demand down in a single cycle and the command slew needs v^2 / (2 a) of run-out to absorb it – measured at 45-59 mm on ARMAR-7 with the historical 150 mm/s.

Kept above zero rather than at it, so the fixed-point argument cannot bite here either if the robot is nudged back onto the tail of the profile.

Definition at line 94 of file NavigationStackGeneralConfig.h.