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1.13.2
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Thresholds for what counts as a geometrically usable path. More...
#include <armarx/navigation/algorithms/spfa/smoothing/PathGeometry.h>
Public Attributes | |
| double | maxTurnRate = 0.8 / 150.0 |
| Most the commanded heading may turn per millimetre travelled [rad/mm]. | |
| double | minDirectionDot = 0.0 |
| Consecutive travel directions whose dot product is below this have reversed. | |
| double | minSegmentLength = 1.0 |
| Segments shorter than this [mm] carry no reliable direction, and the heading a downstream spline reads off them is numerical noise. | |
Thresholds for what counts as a geometrically usable path.
Separate from the smoothing weights: these describe the result the optimizer has to produce, not how it gets there.
Definition at line 32 of file PathGeometry.h.
| double maxTurnRate = 0.8 / 150.0 |
Most the commanded heading may turn per millimetre travelled [rad/mm].
A path-length bound, not a rate: ‘yaw’(s) * v` is the yaw rate the base is asked for, so a profile that turns faster than this per millimetre can only be executed by slowing down, and past some point by not moving at all.
The default is what a base holding limits.angular (0.8 rad/s on ARMAR-7) can turn while still making the boundaryVelocity the profile is floored at (150 mm/s): 0.8 / 150 = 0.00533 rad/mm. Healthy ARMAR-7 runs measure 0.0016 rad/mm at their worst; the run this bound was derived from reached 0.0259.
Definition at line 54 of file PathGeometry.h.
| double minDirectionDot = 0.0 |
Consecutive travel directions whose dot product is below this have reversed.
Slightly above zero so a numerically flat vertex is not reported as a fold.
Definition at line 36 of file PathGeometry.h.
| double minSegmentLength = 1.0 |
Segments shorter than this [mm] carry no reliable direction, and the heading a downstream spline reads off them is numerical noise.
Definition at line 40 of file PathGeometry.h.
1.13.2