pyrobosim.navigation.execution.ConstantVelocityExecutor.__init__

ConstantVelocityExecutor.__init__(dt: float = 0.1, linear_velocity: float = 1.0, max_angular_velocity: float | None = None, validate_during_execution: bool = False, validation_dt: float = 0.5, validation_step_dist: float = 0.025, lidar_sensor_name: str | None = None, lidar_sensor_measurement_dt: float = 0.25) → None

Creates a constant velocity path executor.

Parameters:

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

• linear_velocity – Linear velocity, in m/s.

• max_angular_velocity – Maximum angular velocity, in rad/s.

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

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

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

• lidar_sensor_name – Name of the lidar sensor to use for detecting closed hallways.

• lidar_sensor_measurement_dt – Time step for taking lidar sensor measurement, in seconds.