#include <armarx/navigation/simulation/TrajectoryFollowingSimulation.h>

Public Attributes
float	finalDistanceToGoal {0.F}
	Distance to the last trajectory point when the run ended [mm].

Eigen::Matrix3d	massMatrix {Eigen::Matrix3d::Zero()}
	Full mass matrix at the `Home` configuration, `[x, y, yaw]`.

float	maxGoalOvershoot {0.F}
	Furthest the robot ever got past the last trajectory point [mm].

float	maxRequiredAngularAcceleration {0.F}
	Largest `requiredAngularAcceleration` over the run [rad/s^2].

float	maxRequiredLinearAcceleration {0.F}
	Largest `requiredLinearAcceleration` over the run [mm/s^2].

float	maxRequiredMotorTorque {0.F}
	Largest motor torque demanded over the run [N m]. `OmniWheelTorque` only.

float	maxTrackingError {0.F}
	Largest cross-track error over the run [mm].

std::size_t	motorTorqueSaturatedCycles {0}
	Cycles in which a motor torque bound was binding. `OmniWheelTorque` only.

float	platformMass {0.F}
	Platform mass and yaw inertia from the robot model. `OmniWheelTorque` only.

float	platformYawInertia {0.F}

bool	reachedGoal {false}

std::vector< Sample >	samples

std::size_t	saturatedCycles {0}
	Number of control cycles in which any limit was binding.

bool	settledShortOfGoal {false}
	Set when the run ended because the robot stopped moving short of the goal.

std::size_t	wheelSpeedSaturatedCycles {0}
	Cycles in which a wheel speed bound was binding. `OmniWheelTorque` only.

Detailed Description

Definition at line 331 of file TrajectoryFollowingSimulation.h.

Member Data Documentation

◆ finalDistanceToGoal

float finalDistanceToGoal {0.F}

Distance to the last trajectory point when the run ended [mm].

Definition at line 341 of file TrajectoryFollowingSimulation.h.

◆ massMatrix

Eigen::Matrix3d massMatrix {Eigen::Matrix3d::Zero()}

Full mass matrix at the Home configuration, [x, y, yaw].

The off-diagonal terms are the CoM offset from the yaw axis and are not negligible on ARMAR-7.

Definition at line 374 of file TrajectoryFollowingSimulation.h.

◆ maxGoalOvershoot

float maxGoalOvershoot {0.F}

Furthest the robot ever got past the last trajectory point [mm].

The velocity profile is indexed by position, so nothing in it bounds the stopping distance the device command ramp actually needs. Overshoot is the visible symptom.

Definition at line 347 of file TrajectoryFollowingSimulation.h.