ObstacleAwareVelocityLimit Class Reference

The maximum permissible linear velocity as a function of the distance to the closest obstacle. More...

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

Classes
struct	Parameters

Public Member Functions
std::vector< float >	at (const core::Positions &positions) const
float	at (const Eigen::Vector2f &position) const
	The limit at a position in the costmap's global frame.
float	atDistance (float obstacleDistance) const
	The limit for a given distance to the closest obstacle [mm].
	ObstacleAwareVelocityLimit (const Costmap &costmap, const Parameters &params)
const Parameters &	params () const noexcept

Detailed Description

The maximum permissible linear velocity as a function of the distance to the closest obstacle.

The limit decays from maxVelocity in free space to maxVelocity / (1 + weight) at zero clearance:

This used to live as a private member function of global_planning::SPFAImpl, duplicated once more in its final velocity clamp. It is a standalone concept, so it lives here and can be used to verify a trajectory produced by any planner: for a path that respects the limit, at(position) >= velocity holds at every trajectory point.

Note

The referenced costmap must outlive this object.

Constructor & Destructor Documentation

ObstacleAwareVelocityLimit()

ObstacleAwareVelocityLimit	(	const Costmap &	costmap,
		const Parameters &	params )

Member Function Documentation

at() [1/2]

std::vector< float > at

(

const core::Positions &

positions

)

const

at() [2/2]

float at

(

const Eigen::Vector2f &

position

)

const

The limit at a position in the costmap's global frame.

Cells without costmap information (masked out) are treated as zero clearance, i.e. the most restrictive limit. Not knowing how far away the obstacles are is not a reason to drive fast.

atDistance()

float atDistance

(

float

obstacleDistance

)

const

The limit for a given distance to the closest obstacle [mm].

params()

const ObstacleAwareVelocityLimit::Parameters & params ( ) const

noexcept

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The documentation for this class was generated from the following files:

• armarx/navigation/algorithms/ObstacleAwareVelocityLimit.h
• armarx/navigation/algorithms/ObstacleAwareVelocityLimit.cpp