MipAlgorithms::ObsAvoiAlgoParVFH Class Reference
[Obstacle avoidance]
parameters of ObsAvoiAlgoVFH class
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#include <ObsAvoiAlgoVFH.h>
Public Member Functions | |
| ObsAvoiAlgoParVFH () | |
| Default constructor. | |
| ObsAvoiAlgoParVFH (Decimal cellSizeP, int windowDiameterP, int sectorAngleP, Decimal safetyDist0msP, Decimal safetyDist1msP, int maxSpeedP, int maxSpeedNarrowOpeningP, int maxSpeedWideOpeningP, int maxAccelerationP, int minTurnrateP, int maxTurnrate0msP, int maxTurnrate1msP, Decimal minTurnRadiusSafetyFactorP, Decimal freeSpaceCutoff0msP, Decimal obsCutoff0msP, Decimal freeSpaceCutoff1msP, Decimal obsCutoff1msP, Decimal weightDesiredDirP, Decimal weightCurrentDirP, Decimal goalDistToleranceP, Decimal robotRadiusP) | |
| Parametrical constructor. | |
| ObsAvoiAlgoParVFH (const ObsAvoiAlgoParVFH &A) | |
| Copy constructor. | |
| ObsAvoiAlgoParVFH | operator= (ObsAvoiAlgoParVFH A) |
| Overload operator = . | |
Public Attributes | |
| Decimal | cellSize |
| Local occupancy map grid size (default 0.1 m). | |
| int | windowDiameter |
| Dimensions of occupancy map (map consists of window_diameter X window_diameter cells) (defaul 61). | |
| int | sectorAngle |
| Histogram angular resolution, in degrees (default 5). | |
| Decimal | safetyDist0ms |
| The minimum distance the robot is allowed to get to obstacles when stopped (defaul 0.1 m). | |
| Decimal | safetyDist1ms |
| The minimum distance the robot is allowed to get to obstacles when travelling at 1 m/s. (default safetyDist0ms). | |
| int | maxSpeed |
| The maximum allowable speed of the robot (defaul 0.2 m/s). | |
| int | maxSpeedNarrowOpening |
| The maximum allowable speed of the robot through a narrow opening (defaul maxSpeed). | |
| int | maxSpeedWideOpening |
| The maximum allowable speed of the robot through a wide opening (defaul maxSpeed). | |
| int | maxAcceleration |
| The maximum allowable acceleration of the robot (default 0.2 m/s^2). | |
| int | minTurnrate |
| The minimum allowable turnrate of the robot (default 10 deg/s). | |
| int | maxTurnrate0ms |
| The maximum allowable turnrate of the robot when stopped (default 40 deg/s). | |
| int | maxTurnrate1ms |
| The maximum allowable turnrate of the robot when travelling 1 m/s (default maxTurnrate0ms). | |
| Decimal | minTurnRadiusSafetyFactor |
| min turnrate radius safety factor (default 1.0) | |
| Decimal | freeSpaceCutoff0ms |
| Unitless value. The higher the value, the closer the robot will get to obstacles before avoiding (while stopped) (default 5000000.0). | |
| Decimal | obsCutoff0ms |
| free space cut off (default freeSpaceCutoff0ms) | |
| Decimal | freeSpaceCutoff1ms |
| Unitless value. The higher the value, the closer the robot will get to obstacles before avoiding (while travelling at 1 m/s) (default freeSpaceCutoff0ms). | |
| Decimal | obsCutoff1ms |
| obstacle cut off (default freeSpaceCutoff1ms) | |
| Decimal | weightDesiredDir |
| Bias for the robot to turn to move toward goal position (default 5.0). | |
| Decimal | weightCurrentDir |
| Bias for the robot to continue moving in current direction of travel (default 3.0). | |
| Decimal | goalDistTolerance |
| goal distance tolerance (default 0.04 m) | |
| Decimal | robotRadius |
| robot radius (default 0.07 m) | |
Detailed Description
parameters of ObsAvoiAlgoVFH class
Constructor & Destructor Documentation
| MipAlgorithms::ObsAvoiAlgoParVFH::ObsAvoiAlgoParVFH | ( | ) |
Default constructor.
Sets all parameters to default values.
| MipAlgorithms::ObsAvoiAlgoParVFH::ObsAvoiAlgoParVFH | ( | Decimal | cellSizeP, | |
| int | windowDiameterP, | |||
| int | sectorAngleP, | |||
| Decimal | safetyDist0msP, | |||
| Decimal | safetyDist1msP, | |||
| int | maxSpeedP, | |||
| int | maxSpeedNarrowOpeningP, | |||
| int | maxSpeedWideOpeningP, | |||
| int | maxAccelerationP, | |||
| int | minTurnrateP, | |||
| int | maxTurnrate0msP, | |||
| int | maxTurnrate1msP, | |||
| Decimal | minTurnRadiusSafetyFactorP, | |||
| Decimal | freeSpaceCutoff0msP, | |||
| Decimal | obsCutoff0msP, | |||
| Decimal | freeSpaceCutoff1msP, | |||
| Decimal | obsCutoff1msP, | |||
| Decimal | weightDesiredDirP, | |||
| Decimal | weightCurrentDirP, | |||
| Decimal | goalDistToleranceP, | |||
| Decimal | robotRadiusP | |||
| ) |
Parametrical constructor.
Sets all parameters to passed values.
| MipAlgorithms::ObsAvoiAlgoParVFH::ObsAvoiAlgoParVFH | ( | const ObsAvoiAlgoParVFH & | A | ) |
Copy constructor.
Member Function Documentation
| ObsAvoiAlgoParVFH MipAlgorithms::ObsAvoiAlgoParVFH::operator= | ( | ObsAvoiAlgoParVFH | A | ) |
Overload operator = .
Member Data Documentation
Local occupancy map grid size (default 0.1 m).
Dimensions of occupancy map (map consists of window_diameter X window_diameter cells) (defaul 61).
Histogram angular resolution, in degrees (default 5).
The minimum distance the robot is allowed to get to obstacles when stopped (defaul 0.1 m).
The minimum distance the robot is allowed to get to obstacles when travelling at 1 m/s. (default safetyDist0ms).
The maximum allowable speed of the robot (defaul 0.2 m/s).
The maximum allowable speed of the robot through a narrow opening (defaul maxSpeed).
The maximum allowable speed of the robot through a wide opening (defaul maxSpeed).
The maximum allowable acceleration of the robot (default 0.2 m/s^2).
The minimum allowable turnrate of the robot (default 10 deg/s).
The maximum allowable turnrate of the robot when stopped (default 40 deg/s).
The maximum allowable turnrate of the robot when travelling 1 m/s (default maxTurnrate0ms).
min turnrate radius safety factor (default 1.0)
Unitless value. The higher the value, the closer the robot will get to obstacles before avoiding (while stopped) (default 5000000.0).
free space cut off (default freeSpaceCutoff0ms)
Unitless value. The higher the value, the closer the robot will get to obstacles before avoiding (while travelling at 1 m/s) (default freeSpaceCutoff0ms).
obstacle cut off (default freeSpaceCutoff1ms)
Bias for the robot to turn to move toward goal position (default 5.0).
Bias for the robot to continue moving in current direction of travel (default 3.0).
goal distance tolerance (default 0.04 m)
robot radius (default 0.07 m)
The documentation for this class was generated from the following files:
- algorithms/ObsAvoiAlgo/ObsAvoiAlgoVFH.h
- algorithms/ObsAvoiAlgo/ObsAvoiAlgoVFH.cpp
