auterion::LocalPositionAssessorConfig Struct Reference

Configuration structure for LocalPositionAssessor, defines default acceptance criteria for local position threshold-checkers. More...

#include <auterion_sdk/system_state/local_position_assessor.hpp>

Public Member Functions
LocalPositionAssessorConfig &	withPositionErrorThreshold (const float position_error_threshold_m)
	Set the position error threshold. More...
LocalPositionAssessorConfig &	withVelocityThreshold (const float absolute_velocity_threshold_m_s)
	Set the absolute velocity threshold. More...
LocalPositionAssessorConfig &	withAccelerationThreshold (const float absolute_acceleration_threshold_m_s2)
	Set the absolute acceleration threshold. More...
LocalPositionAssessorConfig &	withHeadingErrorThreshold (const float heading_error_threshold_rad)
	Set the heading error threshold. More...

Public Attributes
float	position_error_threshold_m {0.5F}
float	absolute_velocity_threshold_m_s {0.3F}
float	absolute_acceleration_threshold_m_s2
float	heading_error_threshold_rad {7.F * M_PI / 180.F}

Detailed Description

Configuration structure for LocalPositionAssessor, defines default acceptance criteria for local position threshold-checkers.

See also

LocalPositionAssessor

Member Function Documentation

withAccelerationThreshold()

LocalPositionAssessorConfig& auterion::LocalPositionAssessorConfig::withAccelerationThreshold ( const float  absolute_acceleration_threshold_m_s2 )

inline

Set the absolute acceleration threshold.

Parameters

absolute_acceleration_threshold_m_s2

The desired absolute acceleration threshold [m/s^2].

Returns

Reference to the modified LocalPositionAssessorConfig.

withHeadingErrorThreshold()

LocalPositionAssessorConfig& auterion::LocalPositionAssessorConfig::withHeadingErrorThreshold ( const float  heading_error_threshold_rad )

inline

Set the heading error threshold.

Parameters

heading_error_threshold_rad

The desired heading error threshold [rad].

Returns

Reference to the modified LocalPositionAssessorConfig.

withPositionErrorThreshold()

LocalPositionAssessorConfig& auterion::LocalPositionAssessorConfig::withPositionErrorThreshold ( const float  position_error_threshold_m )

inline

Set the position error threshold.

Parameters

position_error_threshold_m

The desired position error threshold [m].

Returns

Reference to the modified LocalPositionAssessorConfig.

withVelocityThreshold()

LocalPositionAssessorConfig& auterion::LocalPositionAssessorConfig::withVelocityThreshold ( const float  absolute_velocity_threshold_m_s )

inline

Set the absolute velocity threshold.

Parameters

absolute_velocity_threshold_m_s

The desired absolute velocity threshold [m/s].

Returns

Reference to the modified LocalPositionAssessorConfig.

Member Data Documentation

absolute_acceleration_threshold_m_s2

float auterion::LocalPositionAssessorConfig::absolute_acceleration_threshold_m_s2

Initial value:

{
        0.1F}

Absolute acceleration threshold [m/s^2].

absolute_velocity_threshold_m_s

float auterion::LocalPositionAssessorConfig::absolute_velocity_threshold_m_s {0.3F}

Absolute velocity threshold [m/s].

heading_error_threshold_rad

float auterion::LocalPositionAssessorConfig::heading_error_threshold_rad {7.F * M_PI / 180.F}

Heading error threshold [rad].

position_error_threshold_m

float auterion::LocalPositionAssessorConfig::position_error_threshold_m {0.5F}

Position error threshold [m].

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The documentation for this struct was generated from the following file:

• include/auterion_sdk/system_state/local_position_assessor.hpp