pyrobosim.navigation.execution.ConstantVelocityExecutor.__init__

ConstantVelocityExecutor.__init__(dt=0.1, linear_velocity=1.0, max_angular_velocity=None, validate_during_execution=False, validation_dt=0.5, validation_step_dist=0.025)

Creates a constant velocity path executor.

Parameters:

  • dt (float) – Time step for creating a trajectory, in seconds.

  • linear_velocity (float) – Linear velocity, in m/s.

  • max_angular_velocity (float, optional) – Maximum angular velocity, in rad/s.

  • validate_during_execution (bool) – If True, runs a separate thread that validates the remaining path at a regular rate.

  • validation_dt (float) – Time step for validating the remaining path, in seconds.

  • validation_step_dist (float) – The step size for discretizing a straight line to check collisions.