47 lines
1.3 KiB
Protocol Buffer
47 lines
1.3 KiB
Protocol Buffer
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syntax = "proto3";
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package cmvr.config;
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message CartesianLineDeviationCheckConfig {
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bool enable = 1;
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double line_deviation_warn_m = 2;
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double line_deviation_stop_m = 3;
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double line_direction_warn_deg = 4;
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double line_direction_stop_deg = 5;
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double line_direction_reset_deg = 6;
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double line_check_min_distance_m = 7;
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}
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message JointContinuityCheckConfig {
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bool enable = 1;
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double max_joint_delta_rad = 2;
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double max_joint_velocity_rad_s = 3;
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double max_joint_acceleration_rad_s2 = 4;
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}
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message JointVelocityCheckConfig {
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bool enable = 1;
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double max_joint_velocity_rad_s = 2;
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double max_joint_acceleration_rad_s2 = 3;
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}
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message CartesianStepFeasibilityCheckConfig {
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bool enable = 1;
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double min_linear_speed_ratio = 2;
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double max_linear_direction_deviation_deg = 3;
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double min_angular_speed_ratio = 4;
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double max_angular_direction_deviation_deg = 5;
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double min_desired_linear_speed = 6;
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double min_desired_angular_speed = 7;
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}
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message CartesianVelocityFeasibilityCheckConfig {
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bool enable = 1;
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double min_linear_speed_ratio = 2;
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double max_linear_direction_deviation_deg = 3;
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double min_angular_speed_ratio = 4;
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double max_angular_direction_deviation_deg = 5;
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double min_desired_linear_speed = 6;
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double min_desired_angular_speed = 7;
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}
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