ObstacleAwareVelocityLimit::Parameters Struct Reference

#include <armarx/navigation/algorithms/ObstacleAwareVelocityLimit.h>

Public Attributes
float	maxVelocity {200.F}
	Permissible velocity far away from any obstacle [mm/s].
float	obstacleCostExponent {4.F}
	Exponent of the proximity term. Larger values keep full speed closer to obstacles.
float	obstacleDistanceWeight {2.F}
	Strength of the reduction. At zero clearance the limit is maxVelocity / (1 + w).
float	obstacleMaxDistance {500.F}
	Distances are clipped to this value; beyond it the limit is maxVelocity [mm].

Member Data Documentation

maxVelocity

float maxVelocity {200.F}

Permissible velocity far away from any obstacle [mm/s].

obstacleCostExponent

float obstacleCostExponent {4.F}

Exponent of the proximity term. Larger values keep full speed closer to obstacles.

obstacleDistanceWeight

float obstacleDistanceWeight {2.F}

Strength of the reduction. At zero clearance the limit is maxVelocity / (1 + w).

obstacleMaxDistance

float obstacleMaxDistance {500.F}

Distances are clipped to this value; beyond it the limit is maxVelocity [mm].

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

• armarx/navigation/algorithms/ObstacleAwareVelocityLimit.h