DynamicObject
struct DynamicObject {
int id;
float start_angle;
float end_angle;
float distance;
geometry_msgs/TwistWithCovariance velocity;
}
This structure describes a dynamic object and is used in conjunction with the free space distance data from the Free Space Estimation algorithm and the object tracking algorithm (TODO: link when it exists).
The idea is that the object tracking algorithm tracks the object and estimates its linear and angular (?) velocity with uncertainty. This data is encoded in the TwistWithCovariance message type.
Parameter Descriptions
| Parameter Name | Description |
|---|---|
| id | A static ID assigned to the object by the object tracking algorithm. Should be temporally consistent. |
| start_angle | The starting angle in degrees of the dynamic object. |
| end_angle | The end angle in degrees of the dynamic object. |
| distance | The (mean? center of mass? something?) distance to the object. Might also be deduced from the free space data. |
| velocity | Estimated linear and angular velocity. |
Example Usage
Dynamic Object structure Example Usage
void do_control_algorithm(DynamicObject[] dynamic_objects, float[210] free_space_distances) {
// Dock... :^)
}