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Add a collision avoidance library which uses range data

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baumanta
2018-11-20 14:11:33 +01:00
committed by Beat Küng
parent 1d12827408
commit db514fe441
14 changed files with 415 additions and 0 deletions
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msg/collision_constraints.msg
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# 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