enum mrpt::nav::PTG_collision_behavior_t

Overview

Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory. More…

#include <CParameterizedTrajectoryGenerator.h>

enum PTG_collision_behavior_t
{
    COLL_BEH_BACK_AWAY = 0,
    COLL_BEH_STOP,
};

Detailed Documentation

Defines behaviors for where there is an obstacle inside the robot shape right at the beginning of a PTG trajectory.

See also:

Used in CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR

Enum Values

COLL_BEH_BACK_AWAY

Favor getting back from too-close (almost collision) obstacles.

COLL_BEH_STOP

Totally dissallow any movement if there is any too-close (almost collision) obstacles.