MipAlgorithms::ObsAvoiAlgoLIPOptions Class Reference
[Obstacle avoidance]
Options for for the ObsAvoiAlgoLIP.
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#include <ObsAvoiAlgoLIP.h>
Public Member Functions | |
| ObsAvoiAlgoLIPOptions () | |
| string | getObjectName () const |
| Gets the Name of the Options. | |
Public Attributes | |
| DecimalOption * | driveGain |
| Gain of the drive command. | |
| DecimalOption * | turnrateGain |
| Gain of the turnrate command. | |
| DecimalOption * | influenceRadius |
| radius of influence of the repulsive potential associated to an obstacle point (positive meters). | |
| DecimalOption * | driveSatDw |
| drive command lower threshold | |
| DecimalOption * | turnrateSatDw |
| turn rate command lower threshold | |
| DecimalOption * | driveSatUp |
| drive command upper threshold | |
| DecimalOption * | turnSatUp |
| turn rate command upper threshold | |
| DecimalOption * | obstacleGrowing |
| Is a obastcle's Growing dimension. | |
| DecimalOption * | potentialTypeChangeDistance |
| Is the distance from obastacle where the potential change from conical to parabolic type. | |
| DecimalOption * | turnOffDistance |
| when the robot is in this ray from goal the repulsive forces in forced to zero | |
| DecimalOption * | angClusterAmp |
| local minima finder algorithm can filter scan measures. It take the minima distance in a circular sector of angClusterAmp amplitude | |
| DecimalOption * | minimaObstacleDistance |
| when the robot is at this distance from obastacle the potential fiel is equals to drive saturation up | |
| DecimalOption * | turnrateVortexField |
| this is the turnrate gain in vortex field mode | |
| BoolOption * | vortexField |
| when this parameters is equal to true, then vortex field method will be used, else if this parameter is equal to false classic field will be used | |
Detailed Description
Options for for the ObsAvoiAlgoLIP.The parameters of algorithm are chosen by the following options:
- driveGain:Gain of the drive command.
- turnrateGain:Gain of the turnrate command
- influenceRadius:radius of influence of the repulsive potential associated to an obstacle point (positive meters).
- driveSatDw:drive command lower threshold
- driveSatUp:drive command upper threshold
- turnSatUp:turn rate command upper threshold
- obstacleGrowing:Is a obastcle's Growing dimension
- potentialTypeChangeDistance:Is the distance from obastacle where the potential change from conical to parabolic type
- turnOffDistance:when the robot is in this ray from goal, the repulsive forces in forced to zero
- angClusterAmp:local minima finder algorithm can filter scan measures. It take the minima distance in a circular sector of angClusterAmp amplitude, if this parameter is equal to zero the filtering procedure will be skipped
- minimaObstacleDistance:when the robot is at this distance from obastacle the potential field is equals to drive saturation up
- turnrateVortexField:this is the turnrate gain in vortex field mode
- vortexField:when this parameters is equal to true, then vortex field method will be used, else if this parameter is equal to false classic field will be used
Constructor & Destructor Documentation
| MipAlgorithms::ObsAvoiAlgoLIPOptions::ObsAvoiAlgoLIPOptions | ( | ) |
Member Function Documentation
| string MipAlgorithms::ObsAvoiAlgoLIPOptions::getObjectName | ( | ) | const [inline, virtual] |
Member Data Documentation
Gain of the drive command.
Gain of the turnrate command.
radius of influence of the repulsive potential associated to an obstacle point (positive meters).
drive command lower threshold
turn rate command lower threshold
drive command upper threshold
turn rate command upper threshold
Is a obastcle's Growing dimension.
Is the distance from obastacle where the potential change from conical to parabolic type.
when the robot is in this ray from goal the repulsive forces in forced to zero
local minima finder algorithm can filter scan measures. It take the minima distance in a circular sector of angClusterAmp amplitude
when the robot is at this distance from obastacle the potential fiel is equals to drive saturation up
this is the turnrate gain in vortex field mode
when this parameters is equal to true, then vortex field method will be used, else if this parameter is equal to false classic field will be used
The documentation for this class was generated from the following files:
- algorithms/ObsAvoiAlgo/ObsAvoiAlgoLIP.h
- algorithms/ObsAvoiAlgo/ObsAvoiAlgoLIP.cpp
