GazeReachedConfig Struct Reference

Thresholds deciding when the gaze counts as fixed on the active target. More...

#include <armarx/view_selection/gaze_scheduler/GazeTargetReachedMonitor.h>

Public Attributes
float	angularTh = VirtualRobot::MathTools::deg2rad(2.F)
	Angular gaze error below which the target counts as fixated [rad].
int	filterCount = 5
	Consecutive controller reports required before a decision is taken.
float	lateralTh = 30.F
	Lateral miss distance below which the target counts as fixated [mm].

Detailed Description

Thresholds deciding when the gaze counts as fixed on the active target.

These live on the scheduler rather than in the controller config so they can be retuned without redeploying the RobotUnit, and so they mean the same thing for every controller variant (see gaze_controller::computeGazeResidual).

Member Data Documentation

angularTh

float angularTh = VirtualRobot::MathTools::deg2rad(2.F)

Angular gaze error below which the target counts as fixated [rad].

filterCount

int filterCount = 5

Consecutive controller reports required before a decision is taken.

At the controller's 10 Hz report rate, 5 is half a second of steady gaze.

lateralTh

float lateralTh = 30.F

Lateral miss distance below which the target counts as fixated [mm].

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The documentation for this struct was generated from the following file:

• armarx/view_selection/gaze_scheduler/GazeTargetReachedMonitor.h