TrajectoryFollowingSimulation::Result Struct Reference

#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.

Member Data Documentation

finalDistanceToGoal

float finalDistanceToGoal {0.F}

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

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.

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.

maxRequiredAngularAcceleration

float maxRequiredAngularAcceleration {0.F}

Largest requiredAngularAcceleration over the run [rad/s^2].

maxRequiredLinearAcceleration

float maxRequiredLinearAcceleration {0.F}

Largest requiredLinearAcceleration over the run [mm/s^2].

maxRequiredMotorTorque

float maxRequiredMotorTorque {0.F}

Largest motor torque demanded over the run [N m]. OmniWheelTorque only.

maxTrackingError

float maxTrackingError {0.F}

Largest cross-track error over the run [mm].

motorTorqueSaturatedCycles

std::size_t motorTorqueSaturatedCycles {0}

Cycles in which a motor torque bound was binding. OmniWheelTorque only.

platformMass

float platformMass {0.F}

Platform mass and yaw inertia from the robot model. OmniWheelTorque only.

platformYawInertia

float platformYawInertia {0.F}

reachedGoal

bool reachedGoal {false}

samples

std::vector<Sample> samples

saturatedCycles

std::size_t saturatedCycles {0}

Number of control cycles in which any limit was binding.

settledShortOfGoal

bool settledShortOfGoal {false}

Set when the run ended because the robot stopped moving short of the goal.

wheelSpeedSaturatedCycles

std::size_t wheelSpeedSaturatedCycles {0}

Cycles in which a wheel speed bound was binding. OmniWheelTorque only.

---

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

• armarx/navigation/simulation/TrajectoryFollowingSimulation.h