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

Public Attributes
traj_ctrl::global::TrajectoryFollowingControllerParams	controller
	Parameters of the trajectory following controller, including `alpha` and limits.

float	dt {0.01F}
	Control cycle [s]. `CycleUtil(10)` in the controller's additional task -> 10 ms.

PlatformDynamics	dynamics
	What the simulated mass can actually deliver.

float	goalDistanceThreshold {20.F}
	Consider the goal reached within this distance to the last trajectory point [mm].

float	maxDuration {120.F}
	Give up after this much simulated time [s].

CommandRateLimit	rateLimit
	The device-side command ramp between the controller and the platform.

float	settledDuration {1.F}
	How long the robot has to stay below `settledSpeedThreshold` before giving up [s].

float	settledSpeedThreshold {1.F}
	Speed below which the robot counts as standing still [mm/s].

Detailed Description

Definition at line 229 of file TrajectoryFollowingSimulation.h.

Member Data Documentation

◆ controller

traj_ctrl::global::TrajectoryFollowingControllerParams controller

Parameters of the trajectory following controller, including alpha and limits.

Definition at line 252 of file TrajectoryFollowingSimulation.h.

◆ dt

float dt {0.01F}

Control cycle [s]. CycleUtil(10) in the controller's additional task -> 10 ms.

Definition at line 232 of file TrajectoryFollowingSimulation.h.

◆ dynamics

PlatformDynamics dynamics

What the simulated mass can actually deliver.

Definition at line 255 of file TrajectoryFollowingSimulation.h.

◆ goalDistanceThreshold

float goalDistanceThreshold {20.F}

Consider the goal reached within this distance to the last trajectory point [mm].

Definition at line 238 of file TrajectoryFollowingSimulation.h.

◆ maxDuration

float maxDuration {120.F}

Give up after this much simulated time [s].

Definition at line 235 of file TrajectoryFollowingSimulation.h.

◆ rateLimit

CommandRateLimit rateLimit

The device-side command ramp between the controller and the platform.

Definition at line 258 of file TrajectoryFollowingSimulation.h.

◆ settledDuration

float settledDuration {1.F}

How long the robot has to stay below settledSpeedThreshold before giving up [s].

Definition at line 249 of file TrajectoryFollowingSimulation.h.

◆ settledSpeedThreshold

float settledSpeedThreshold {1.F}

Speed below which the robot counts as standing still [mm/s].

The controller's final segment is a pure P law, so it approaches the goal asymptotically and can settle just outside goalDistanceThreshold – creeping at a few hundredths of a mm/s for the rest of maxDuration. Without this the simulation would spend most of its samples on a robot that has stopped.

Definition at line 246 of file TrajectoryFollowingSimulation.h.

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

armarx/navigation/simulation/TrajectoryFollowingSimulation.h

Public Attributes