GoalReachedConfig.h

Go to the documentation of this file.

#pragma once
 
#include <cmath>
 
#include <VirtualRobot/MathTools.h>
 
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
namespace armarx::navigation::core
{
 
    struct GoalReachedConfig
    {
        float posTh{45.F}; // [mm]
        float oriTh{VirtualRobot::MathTools::deg2rad(8.F)}; // [rad]
 
        float linearVelTh{100.F}; // [mm/s]
        float angularVelTh{VirtualRobot::MathTools::deg2rad(5.F)}; // [rad/s]
 
        int filterCount{5};
 
        aron::data::DictPtr toAron() const;
        static GoalReachedConfig FromAron(const aron::data::DictPtr& dict);
    };
 
} // namespace armarx::navigation::core