MipAlgorithms::ObsAvoiAlgoLIPParams Class Reference
[Obstacle avoidance]

provides a goal-based navigation with obstacle avoidance on laser scan More...

#include <ObsAvoiAlgoLIP.h>

Inheritance diagram for MipAlgorithms::ObsAvoiAlgoLIPParams:

List of all members.

Public Member Functions
	ObsAvoiAlgoLIPParams (DraWin *dW=0, Decimal dG=1.0, Decimal tG=1.0, Decimal iR=1.0, Decimal dSDw=0.1, Decimal trSDw=0.05, Decimal dSU=10.0, Decimal trSU=10.0, Decimal oG=0.1, Decimal pTCD=0.5, Decimal GoalDistanceOFF=0.01, Angle angClusterAmp=0.0, Decimal mOd=0.01, bool vortexField=false, Decimal tGV=2.0)
	is turnrate gain for vortex field it's in use if the vortexFiled option it's true
	ObsAvoiAlgoLIPParams (DraWin *dW, int argc, const char *argv[])
	Constructor with options.
string	getObjectName () const
	Gets the name.
Public Attributes
DraWin *	draWin
	Pointer to a drawing window.
Decimal	driveGain
	Gain of the drive command.
Decimal	turnrateGain
	Gain of the turnrate command.
Decimal	influenceRadius
	radius of influence of the repulsive potential associated to an obstacle point (positive meters).
Decimal	driveSatDw
	drive command lower threshold
Decimal	turnrateSatDw
	turn rate command lower threshold
Decimal	driveSatUp
	drive command upper threshold
Decimal	turnSatUp
	turn rate command upper threshold
Decimal	obstacleGrowing
	Is a obastcle's Growing dimension.
Decimal	potentialTypeChangeDistance
	Is the distance from obastacle where the potential change from conical to parabolic type.
Decimal	turnOffDistance
	when the robot is in this ray from goal the repulsive forces in forced to zero
Angle	angClusterAmp
	is a dimension of window scan filter
Decimal	minimaObstacleDistance
	when the robot is at this distance from obastacle the potential fiel is equals to drive saturation up
bool	vortexField
	when is true vortex field is in use
Decimal	turnrateVortexField

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Detailed Description

provides a goal-based navigation with obstacle avoidance on laser scan

Author:

Francesco Ferrante

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Constructor & Destructor Documentation

MipAlgorithms::ObsAvoiAlgoLIPParams::ObsAvoiAlgoLIPParams	(	DraWin *	dW = 0,
		Decimal	dG = 1.0,
		Decimal	tG = 1.0,
		Decimal	iR = 1.0,
		Decimal	dSDw = 0.1,
		Decimal	trSDw = 0.05,
		Decimal	dSU = 10.0,
		Decimal	trSU = 10.0,
		Decimal	oG = 0.1,
		Decimal	pTCD = 0.5,
		Decimal	GoalDistanceOFF = 0.01,
		Angle	angClusterAmp = 0.0,
		Decimal	mOd = 0.01,
		bool	vortexField = false,
		Decimal	tGV = 2.0
	)

is turnrate gain for vortex field it's in use if the vortexFiled option it's true

Constructor with params.

Parameters:

[in]	dW	Pointer to a drawing window.
[in]	dG	Gain of the drive command.
[in]	aG	Gain of the turnrate command.
[in]	iR	Radius of influence of the repulsive potential associated to an obstacle point (positive meters).
[in]	dSDwdrive	drive command lower threshold
[in]	TtrSatDw	turn rate command lower threshold
[in]	dSU	drive command upper threshold
[in]	trSU	turn rate command upper threshold
[in]	oG	Is a obastcle's Growing dimension
[in]	pTCD	Is the distance from obastacle where the potential change from conical to parabolic type
[in]	GoalDistanceOFF	when the robot is in this ray from goal the repulsive forces in forced to zero ///
[in]	angClusterAmp	is a dimension of window scan filter
[in]	mOd	when the robot is at this distance from obastacle the potential fiel is equals to drive saturation up
[in]	vortexField	when is true vortex field is in use
[in]	turnrateVortexField	is turnrate gain for vortex field it's in use if the vortexFiled option it's true

MipAlgorithms::ObsAvoiAlgoLIPParams::ObsAvoiAlgoLIPParams	(	DraWin *	dW,
		int	argc,
		const char *	argv[]
	)

Constructor with options.

Parameters:

[in]	dW	Pointer to a drawing window.
[in]	argc	Number of command line options.
[in]	argv[]	Command line options.

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Member Function Documentation

string MipAlgorithms::ObsAvoiAlgoLIPParams::getObjectName

(

)

const [inline, virtual]

Gets the name.

Implements MIPObject.

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Member Data Documentation

DraWin* MipAlgorithms::ObsAvoiAlgoLIPParams::draWin

Pointer to a drawing window.

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::driveGain

Gain of the drive command.

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::turnrateGain

Gain of the turnrate command.

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::influenceRadius

radius of influence of the repulsive potential associated to an obstacle point (positive meters).

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::driveSatDw

drive command lower threshold

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::turnrateSatDw

turn rate command lower threshold

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::driveSatUp

drive command upper threshold

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::turnSatUp

turn rate command upper threshold

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::obstacleGrowing

Is a obastcle's Growing dimension.

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::potentialTypeChangeDistance

Is the distance from obastacle where the potential change from conical to parabolic type.

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::turnOffDistance

when the robot is in this ray from goal the repulsive forces in forced to zero

Angle MipAlgorithms::ObsAvoiAlgoLIPParams::angClusterAmp

is a dimension of window scan filter

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::minimaObstacleDistance

when the robot is at this distance from obastacle the potential fiel is equals to drive saturation up

bool MipAlgorithms::ObsAvoiAlgoLIPParams::vortexField

when is true vortex field is in use

Decimal MipAlgorithms::ObsAvoiAlgoLIPParams::turnrateVortexField

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

• algorithms/ObsAvoiAlgo/ObsAvoiAlgoLIP.h
• algorithms/ObsAvoiAlgo/ObsAvoiAlgoLIP.cpp