pyrobosim.navigation.execution.ConstantVelocityExecutor

class pyrobosim.navigation.execution.ConstantVelocityExecutor(dt=0.1, linear_velocity=1.0, max_angular_velocity=None, validate_during_execution=False, validation_dt=0.5, validation_step_dist=0.025)

Executes a path with a linear trajectory assuming constant linear and angular velocity, and that the robot can perfectly go to the next pose.

Methods

__init__([dt, linear_velocity, ...])

Creates a constant velocity path executor.

execute(path[, realtime_factor, battery_usage])

Generates and executes a trajectory on the robot.

reset_state()

Resets all the states for tracking the status of path execution.

to_dict()

Serializes the path executor to a dictionary.

validate_remaining_path()

Validates the remaining path by checking collisions against the world.