aikido::control::VisualServoingVelocityExecutor::Properties Struct Reference

Paramters for Vector Field Planner. More...

#include <aikido/control/VisualServoingVelocityExecutor.hpp>

Public Member Functions
	Properties (double goalTolerance=DEFAULT_GOAL_TOLERANCE, double approachVelocity=DEFAULT_APPROACH_VEL, std::chrono::duration< double > timeout=std::chrono::duration< double >(DEFAULT_TIMEOUT), std::chrono::milliseconds threadPeriod=std::chrono::milliseconds(DEFAULT_THREAD_PERIOD))
	Struct Constructor. More...

Public Attributes
double	mGoalTolerance
double	mApproachVelocity
std::chrono::duration< double >	mTimeout
std::chrono::milliseconds	mThreadPeriod

Static Public Attributes
static constexpr double	DEFAULT_GOAL_TOLERANCE = 0.01
static constexpr double	DEFAULT_APPROACH_VEL = 0.05
static constexpr double	DEFAULT_TIMEOUT = 0.5
static constexpr long	DEFAULT_THREAD_PERIOD = 10L

Detailed Description

Paramters for Vector Field Planner.

Constructor & Destructor Documentation

Properties()

aikido::control::VisualServoingVelocityExecutor::Properties::Properties ( double  goalTolerance = DEFAULT_GOAL_TOLERANCE, double  approachVelocity = DEFAULT_APPROACH_VEL, std::chrono::duration< double >  timeout = std::chrono::duration<double>(DEFAULT_TIMEOUT), std::chrono::milliseconds  threadPeriod = std::chrono::milliseconds(DEFAULT_THREAD_PERIOD)  )

inline

Struct Constructor.

Parameters

[in]	goalTolerance	(m) How close we can be to the goal before terminating the action.
[in]	approachVelocity	(m/s) How fast to move towards goal
[in]	timeout	(s) how long to go with failed perception before killing command (0 = never kill command)
[in]	threadPeriod	(ms) thread cycle period (if running on separate thread)

Member Data Documentation

DEFAULT_APPROACH_VEL

constexpr double aikido::control::VisualServoingVelocityExecutor::Properties::DEFAULT_APPROACH_VEL = 0.05

staticconstexpr

DEFAULT_GOAL_TOLERANCE

constexpr double aikido::control::VisualServoingVelocityExecutor::Properties::DEFAULT_GOAL_TOLERANCE = 0.01

staticconstexpr

DEFAULT_THREAD_PERIOD

constexpr long aikido::control::VisualServoingVelocityExecutor::Properties::DEFAULT_THREAD_PERIOD = 10L

staticconstexpr

DEFAULT_TIMEOUT

constexpr double aikido::control::VisualServoingVelocityExecutor::Properties::DEFAULT_TIMEOUT = 0.5

staticconstexpr

mApproachVelocity

double aikido::control::VisualServoingVelocityExecutor::Properties::mApproachVelocity

mGoalTolerance

double aikido::control::VisualServoingVelocityExecutor::Properties::mGoalTolerance

mThreadPeriod

std::chrono::milliseconds aikido::control::VisualServoingVelocityExecutor::Properties::mThreadPeriod

mTimeout

std::chrono::duration<double> aikido::control::VisualServoingVelocityExecutor::Properties::mTimeout