Skip to content

Commit

Permalink
update the maxl doc
Browse files Browse the repository at this point in the history
  • Loading branch information
puru rastogi committed Mar 19, 2021
1 parent 7fb9f76 commit 0d032d0
Showing 1 changed file with 10 additions and 10 deletions.
20 changes: 10 additions & 10 deletions docs/source/config_maxl.rst
View file
Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ Robot Parameter Description
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| stop_yaw_gain | (Numeric) eg. 0.6 | Yaw gain used when robot is stopped/almost stopped |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| max_yaw_rate | (Numeric) eg. 0.5 | Maximum angular velocity for the robot |
| max_yaw_rate | S.I (rad/s) | Maximum angular velocity for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

4. Inflation
Expand Down Expand Up @@ -148,7 +148,7 @@ Robot Parameter Description
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| direction_threshold | (Numeric) eg. 120 | The fan size (in degrees) on either side of robot wrt relative goal |
| direction_threshold | (degrees) eg. 120 | The fan size (in degrees) on either side of robot wrt relative goal |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| high_accuracy_multiplier | (Numeric) eg. 0.4 | High accuracy multiplier for reaching the goal (0,1] |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
Expand All @@ -158,7 +158,7 @@ Robot Parameter Description
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| reverse_enabled | true/false | Parameter to enable reverse motion for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| truncated_fan_angle | (Numeric) eg. 10 | The fan size (in degrees) on either side of robot wrt relative goal when |
| truncated_fan_angle | (degrees) eg. 10 | The fan size (in degrees) on either side of robot wrt relative goal when |
| | | there is no obstacle detected by the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

Expand All @@ -170,21 +170,21 @@ Robot Parameter Description
| oscillation_senstivity_index | (Numeric) eg. 5 | Controls the senstivity of jump detection. If this value is high, only large changes |
| | | in the value of selected path index are considered an oscillation and vice-versa |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| oscillation_threshold | (Numeric) eg. 10 | Every time an oscillation is detected, the oscillation count is increased by one. If |
| | | this oscillation counr exceeds this value, oscillations are considered true and not |
| | | just an error in detection |
| oscillation_threshold | (Numeric) eg. 10 | Minimum osciallations required to classiffy the beahvior as oscillatory |
| | | |
| | | |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| osc_det_by_score_path | true/false | A flag which gives user the choice to use this method of oscillation detection. If |
| | | false, oscillation detection by this method will stop |
| osc_det_by_score_path | true/false | Flag to switch on/off the critic/method of oscillation detectino by path index. If |
| | | false, the above mentioned params would be rendered ineffective. |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+

12. Parameters for Oscillation Detection by Angular Velocity
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+======================================================================================+
| osc_freq_period | S.I (s) | The interval after which the change in angular velocity direction is compared and |
| | | frequency is calculated |
| osc_freq_period | S.I (s) | Time period for sampling the data d |
| | | |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| osc_freq_threshold | (Numeric) eg. 3.5 | If the frequency of change in angular velocity direction per osc_freq_period is more |
| | | than this value, it is considered an oscillation |
Expand Down

0 comments on commit 0d032d0

Please sign in to comment.