#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 |
| float | cornerLimit = 35 |
| float | cornerVelocity = 200 |
| bool | enableRampingCorners = true |
| bool | enableRampingEnd = true |
| bool | enableRampingStart = true |
| 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()
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virtualdefault |
Member Function Documentation
◆ FromAron()
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static |
Definition at line 41 of file NavigationStackGeneralConfig.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ toAron()
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virtual |
Definition at line 31 of file NavigationStackGeneralConfig.cpp.
Here is the call graph for this function: Here is the caller graph for this function:Member Data Documentation
◆ boundaryVelocity
| float boundaryVelocity = 150 |
Definition at line 71 of file NavigationStackGeneralConfig.h.
◆ cornerLimit
| float cornerLimit = 35 |
Definition at line 73 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.
◆ inCollisionDistanceThresholdForRecovery
| float inCollisionDistanceThresholdForRecovery {100.0F} |
Maximum distance [mm] to search for a valid recovery position when robot starts in collision.
Definition at line 76 of file NavigationStackGeneralConfig.h.
◆ maxVel
| core::TwistLimits maxVel {.linear = 200.F, .angular = 0.2F} |
max velocity
Definition at line 60 of file NavigationStackGeneralConfig.h.
◆ minVel
| core::TwistLimits minVel {.linear = 0.F, .angular = 0.F} |
Definition at line 57 of file NavigationStackGeneralConfig.h.
◆ navigateCloseAsPossible
| bool navigateCloseAsPossible {false} |
If true and the goal is not reachable, navigate to the closest reachable position instead of failing.
Definition at line 79 of file NavigationStackGeneralConfig.h.
◆ parametrization
| TrajectoryParametrization parametrization {TrajectoryParametrization::Ramping} |
How the planned velocity profile is (re-)assigned before execution.
Definition at line 63 of file NavigationStackGeneralConfig.h.
◆ rampLength
| float rampLength {1000} |
Definition at line 69 of file NavigationStackGeneralConfig.h.
The documentation for this struct was generated from the following files:
- armarx/navigation/core/NavigationStackGeneralConfig.h
- armarx/navigation/core/NavigationStackGeneralConfig.cpp
