MipTasks::ObstacleAvoidancePar Class Reference
[ObstacleAvoidance]

Parameters of ObstacleAvoidance task class. More...

#include <ObstacleAvoidance.h>

List of all members.

Public Member Functions
	ObstacleAvoidancePar ()
	Null constructor.
	ObstacleAvoidancePar (ObstacleAvoidanceOptions &options)
	options constructor
	ObstacleAvoidancePar (Decimal VmaxP, Decimal WmaxP, Decimal goalReachedEpsP, Decimal KvP, Decimal KwP, Decimal KweP, ObstacleAvoidanceInputTypes obstacleAvoidanceInputP)
	constructor
	ObstacleAvoidancePar (const ObstacleAvoidancePar &A)
	Copy constructor.
ObstacleAvoidancePar	operator= (ObstacleAvoidancePar A)
	compound operator =
Public Attributes
Decimal	goalReachedEps
	Goal is reached if distance(robot,goal) <= goalReachedEps.
Decimal	Kv
	Linear error gain.
Decimal	Kw
	Angular error gain.
Decimal	Kwe
	Linear and angular error gain.
ObstacleAvoidanceInputTypes	obAvInputType
	Drive mode: position or speed drive.

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Detailed Description

Parameters of ObstacleAvoidance task class.

Author:

Paolo Stegagno

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Constructor & Destructor Documentation

MipTasks::ObstacleAvoidancePar::ObstacleAvoidancePar

(

)

[inline]

Null constructor.

MipTasks::ObstacleAvoidancePar::ObstacleAvoidancePar

(

ObstacleAvoidanceOptions &

options

)

[inline]

options constructor

MipTasks::ObstacleAvoidancePar::ObstacleAvoidancePar	(	Decimal	VmaxP,
		Decimal	WmaxP,
		Decimal	goalReachedEpsP,
		Decimal	KvP,
		Decimal	KwP,
		Decimal	KweP,
		ObstacleAvoidanceInputTypes	obstacleAvoidanceInputP
	)			[inline]

constructor

MipTasks::ObstacleAvoidancePar::ObstacleAvoidancePar

(

const ObstacleAvoidancePar &

A

)

[inline]

Copy constructor.

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Member Function Documentation

ObstacleAvoidancePar MipTasks::ObstacleAvoidancePar::operator=

(

ObstacleAvoidancePar

A

)

[inline]

compound operator =

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Member Data Documentation

Decimal MipTasks::ObstacleAvoidancePar::goalReachedEps

Goal is reached if distance(robot,goal) <= goalReachedEps.

Decimal MipTasks::ObstacleAvoidancePar::Kv

Linear error gain.

Decimal MipTasks::ObstacleAvoidancePar::Kw

Angular error gain.

Decimal MipTasks::ObstacleAvoidancePar::Kwe

Linear and angular error gain.

ObstacleAvoidanceInputTypes MipTasks::ObstacleAvoidancePar::obAvInputType

Drive mode: position or speed drive.

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

• tasks/ObstacleAvoidance/ObstacleAvoidance.h