Kaim::AvoidanceConfig Class Reference
#include <avoidanceconfig.h>
Class Description
Set of parameters used to configure AvoidanceComputer.
Avoidance Capabilities | |
| bool | m_enableSlowingDown |
| bool | m_enableStop |
| KyFloat32 | m_stopCollisionTime |
| KyFloat32 | m_stopWaitTime |
| bool | m_enableForcePassage |
| KyFloat32 | m_waitPassageTimeLimit |
| KyFloat32 | m_forcePassageTimeLimit |
Avoidance output computation config | |
| KyFloat32 | m_minimalTimeToCollision |
| KyFloat32 | m_safetyDistance |
| AvoidanceUtilityFunctionConfig | m_utilityFunctionConfig |
| AvoidanceCapConfig | m_capConfig |
| AvoidanceContactSolverConfig | m_contactSolverConfig |
Member Data Documentation
| AvoidanceCapConfig Kaim::AvoidanceConfig::m_capConfig |
Cap changes in the avoidance output velocity.
| AvoidanceContactSolverConfig Kaim::AvoidanceConfig::m_contactSolverConfig |
Soft-Physics Contact Solver config.
| bool Kaim::AvoidanceConfig::m_enableForcePassage |
If set to true, solutions with collisions are allowed if no other solutions are found after a while.
default value: true If m_enableForcePassage is true, passage will be forced after m_waitPassageTimeLimit seconds
default value: 1.f
| bool Kaim::AvoidanceConfig::m_enableSlowingDown |
If set to true, velocity candidates with reduced speed will be considered; else only velocity candidates with Bot::GetDesiredSpeed() length will be considered.
default value: true
Examples:
| bool Kaim::AvoidanceConfig::m_enableStop |
If set to true, null velocity candidate will be considered; else the AvoidanceSolver will never consider stopping the Bot resulting in sometimes making it force its way through colliders.
default value: true
- Examples:
| KyFloat32 Kaim::AvoidanceConfig::m_minimalTimeToCollision |
If an obstacle may collide another one in m_minimalTimeToCollision seconds, take it into account for the avoidance.
default value: 3.0f
| KyFloat32 Kaim::AvoidanceConfig::m_safetyDistance |
Safety distance around collider to avoid moving too close.
default value: 0.1f
| KyFloat32 Kaim::AvoidanceConfig::m_stopCollisionTime |
If a collision cannot be avoided in less that stopCollisionTime seconds, the entity will stop.
default value: 0.25f
| KyFloat32 Kaim::AvoidanceConfig::m_stopWaitTime |
If the entity stopped, wait stopWaitTime seconds before moving again.
default value: 0.5f
| AvoidanceUtilityFunctionConfig Kaim::AvoidanceConfig::m_utilityFunctionConfig |
Various parameters of the utility function defining how candidate velocities for avoidance are scored.
| KyFloat32 Kaim::AvoidanceConfig::m_waitPassageTimeLimit |
If m_enableForcePassage is true, passage is forced for at most m_forcePassageTimeLimit seconds only after m_waitPassageTimeLimit seconds delay.
default value: 0.5f
The documentation for this class was generated from the following file:
- gwnavruntime/pathfollower/avoidanceconfig.h