Function nav2_regulated_pure_pursuit_controller::heuristics::approachVelocityScalingFactor

Defined in File regulation_functions.hpp

Function Documentation

inline double nav2_regulated_pure_pursuit_controller::heuristics::approachVelocityScalingFactor(const nav_msgs::msg::Path &transformed_path, const double approach_velocity_scaling_dist)

Compute the scale factor to apply for linear velocity regulation on approach to goal.

Parameters:

transformed_path – Path to use to calculate distances to goal
approach_velocity_scaling_dist – Minimum distance away to which to apply the heuristic

Returns:

A scale from 0.0-1.0 of the distance to goal scaled by minimum distance