MipAlgorithms::ObsAvoiAlgoSNDParams Class Reference
[Obstacle avoidance]

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

#include <ObsAvoiAlgoSND.h>

Inheritance diagram for MipAlgorithms::ObsAvoiAlgoSNDParams:

List of all members.

Public Member Functions
	ObsAvoiAlgoSNDParams (Decimal R=0.25, Decimal oAD=1.0, Decimal mS=0.5, Decimal mTR=1.5, Decimal gPT=0.25, Decimal gAT=6.3, Decimal mGW=0.6, bool mode=false)
	when true algorithm is used for a trajector following task else the algorithm is used in a point to point task
	ObsAvoiAlgoSNDParams (int argc, const char *argv[])
	Constructor with options.
string	getObjectName () const
	Gets the name.
Public Attributes
Decimal	robotRadius
Decimal	obstacleAvoidDist
Decimal	maxSpeed
Decimal	maxTurnRate
Decimal	goalPositionTol
Decimal	goalAngleTol
Decimal	minGapWidth
bool	trajectoryMode

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Detailed Description

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

Author:

Joey Durham

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Constructor & Destructor Documentation

MipAlgorithms::ObsAvoiAlgoSNDParams::ObsAvoiAlgoSNDParams	(	Decimal	R = 0.25,
		Decimal	oAD = 1.0,
		Decimal	mS = 0.5,
		Decimal	mTR = 1.5,
		Decimal	gPT = 0.25,
		Decimal	gAT = 6.3,
		Decimal	mGW = 0.6,
		bool	mode = false
	)

when true algorithm is used for a trajector following task else the algorithm is used in a point to point task

Constructor with params.

Parameters:

[in]	R	Robot radius.
[in]	oAD	Obstacle avoidance distance.
[in]	mS	Maximum forward speed.
[in]	mTR	Maximum turn rate
[in]	gPT	Goal position tolerance
[in]	gAT	Goal angle tolerance
[in]	mGW	Minimum width of gap for navigation
[in]	mode	Boolean for trajectory mode

MipAlgorithms::ObsAvoiAlgoSNDParams::ObsAvoiAlgoSNDParams	(	int	argc,
		const char *	argv[]
	)

Constructor with options.

Parameters:

[in]	argc	Number of command line options.
[in]	argv[]	Command line options.

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Member Function Documentation

string MipAlgorithms::ObsAvoiAlgoSNDParams::getObjectName

(

)

const [inline, virtual]

Gets the name.

Implements MIPObject.

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Member Data Documentation

Decimal MipAlgorithms::ObsAvoiAlgoSNDParams::robotRadius

Decimal MipAlgorithms::ObsAvoiAlgoSNDParams::obstacleAvoidDist

Decimal MipAlgorithms::ObsAvoiAlgoSNDParams::maxSpeed

Decimal MipAlgorithms::ObsAvoiAlgoSNDParams::maxTurnRate

Decimal MipAlgorithms::ObsAvoiAlgoSNDParams::goalPositionTol

Decimal MipAlgorithms::ObsAvoiAlgoSNDParams::goalAngleTol

Decimal MipAlgorithms::ObsAvoiAlgoSNDParams::minGapWidth

bool MipAlgorithms::ObsAvoiAlgoSNDParams::trajectoryMode

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

• algorithms/ObsAvoiAlgo/ObsAvoiAlgoSND.h
• algorithms/ObsAvoiAlgo/ObsAvoiAlgoSND.cpp