Tunable geometry for imminent-conflict detection between two robots' planned paths.
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#include <conflict_detector.hpp>
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double | lookahead_distance_m {2.0} |
| | How far ahead along each path (arc length, in meters) to look when checking whether the two robots are about to obstruct each other.
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double | path_conflict_distance_m {0.6} |
| | How close two robots' lookahead segments must come to each other, at some sampled pair of points, to count as a conflict.
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double | proximity_radius_m {3.0} |
| | How close the robots' current positions (path.poses.front()) must be for a conflict to even be considered – matches the "están cerca y es evidente que se van a estorbar" two-part requirement: proximity now, and about to cross paths.
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Tunable geometry for imminent-conflict detection between two robots' planned paths.
The documentation for this struct was generated from the following file:
1.17.0