pyrobosim.navigation.execution.ConstantVelocityExecutor

class pyrobosim.navigation.execution.ConstantVelocityExecutor(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)

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.
detect_hallway_states()	Get lidar measurements and determine if a robot is scanning a hallway.
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.
validate_sensors_for_partial_obs_hallways()	Validates if the lidar sensor is set up correctly with partial hallway observability.

Attributes