You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
13 lines
636 B
13 lines
636 B
6 years ago
|
# Local setpoint constraints in NED frame
|
||
|
|
# setting something to NaN means that no limit is provided
|
||
|
|
|
||
|
|
uint64 timestamp # time since system start (microseconds)
|
||
|
|
|
||
|
|
#value of 0 means no constraint along this axis, value of 1 means no movements alowed, value bigger than 1 forces negative movement.
|
||
|
|
float32[2] constraints_normalized_x # constraints determined by range sensor measurements [x negative, x positive]
|
||
|
|
float32[2] constraints_normalized_y # constraintss determined by range sensor measurements [y negative, y positive]
|
||
|
|
|
||
|
|
float32[2] original_setpoint # velocities demanded
|
||
|
|
float32[2] adapted_setpoint # velocities allowed
|
||
|
|
|