NavigationStackGeneralConfig.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
#include <armarx/navigation/core/types.h>
 
namespace armarx::navigation::core
{
    struct GeneralConfig
    {
        // if the desired velocity is below this threshold, the platform will not be moved
        core::TwistLimits minVel{.linear = 0.F, .angular = 0.F};
 
        //! max velocity
        core::TwistLimits maxVel{.linear = 200.F, .angular = 0.2F};
 
        // Ramping at start and end of trajectory
        bool enableRampingStart = true;
        bool enableRampingEnd = true;
        bool enableRampingCorners = true;
        float rampLength{1000}; // [mm]
        float cornerVelocity = 200; // [mm/s]
        float boundaryVelocity = 150; // [mm/s]
        // the minimum angle between two trajectory segments to be considered a corner (regarding ramping)
        float cornerLimit = 35; // [deg]
 
        //! Maximum distance [mm] to search for a valid recovery position when robot starts in collision
        float inCollisionDistanceThresholdForRecovery{100.0F};
 
        //! If true and the goal is not reachable, navigate to the closest reachable position instead of failing
        bool navigateCloseAsPossible{false};
 
        virtual ~GeneralConfig() = default;
 
        virtual aron::data::DictPtr toAron() const;
 
        static GeneralConfig FromAron(const aron::data::DictPtr& dict);
    };
 
} // namespace armarx::navigation::core