Kaim::SplineTrajectoryConfig Class Reference
#include <splinetrajectoryconfig.h>
Class Description
Class that configures how the trajectory is computed from the Channel.
Examples:
Public Types | |
| enum | VelocityComputationMode { VelocityComputationMode_MatchSpline = 0, VelocityComputationMode_AnimationDrivenLocomotion } |
Member Enumeration Documentation
Enumerates the SplineTrajectory velocity computation modes.
Member Data Documentation
| KyFloat32 Kaim::SplineTrajectoryConfig::m_maxDistanceToSplinePosition |
If the bot is more than m_maxDistanceToSplinePosition meters from its position on the spline, then the spline will be recomputed.
default value: 0.3f
- Examples:
| KyFloat32 Kaim::SplineTrajectoryConfig::m_recomputationDistanceRatio |
Once the bot has moved of splineLength * m_recomputationDistanceRatio meters along the spline, the spline will be recomputed.
default value: 0.3f
- Examples:
| KyFloat32 Kaim::SplineTrajectoryConfig::m_stabilityDistance |
When updating a followed spline, we ensure the spline will not change on m_stabilityDistance meters.
default value: 5.0f
- Examples:
| StartConstraintDirectionMode Kaim::SplineTrajectoryConfig::m_startConstraintDirectionMode |
Defines the direction to be used to constraint the start of a new Spline.
default value: StartConstraintDirectionMode_Velocity
| KyFloat32 Kaim::SplineTrajectoryConfig::m_startConstraintDirectionVelocityThreshold |
When start constraint direction mode is StartConstraintDirectionMode_Velocity, the start constraint is actually set up as velocity direction only if its magnitude (i.e.
bot current speed) is greater than this threshold value, expressed in meter per second.
default value: 0.1f
| KyFloat32 Kaim::SplineTrajectoryConfig::m_targetOnSplineDistance |
The target is a point along the spline that is used to compute the final velocity.
m_targetOnSplineDistance parameter controls the distance this target is from the bot position on spline, when in VelocityComputationMode_AnimationDrivenLocomotion mode. In VelocityComputationMode_MatchSpline mode, the target position is as close as possible of the bot and this distance is thus not used.
default value: 0.6f
- Examples:
| VelocityComputationMode Kaim::SplineTrajectoryConfig::m_velocityComputationMode |
Choose whether you want to directly read your velocity from the spline or if you are animation driven instead.
default value: VelocityComputationMode_MatchSpline
- Examples:
The documentation for this class was generated from the following file:
- gwnavruntime/pathfollower/splinetrajectoryconfig.h