Struct Obstacle

• Defined in File potential_field.hpp

Struct Documentation

struct Obstacle

Represents an obstacle with its properties.

This struct encapsulates all the necessary parameters that define an obstacle in the potential field. These parameters include both the obstacle’s physical dimensions and its contribution to the repulsive field.

Public Members

int start_index

Start index of the obstacle in the range data (discrete index).

int end_index

End index of the obstacle in the range data (discrete index).

float phi

Angular width of the obstacle in radians.

float theta

Angular position of the obstacle’s center in radians.

float distance

Average distance to the obstacle (in meters or arbitrary units).

float sigma

Gaussian spread parameter for obstacle potential computation.

float distance_tilda

Adjusted distance for potential calculation.

float coeff_a

Amplitude of the obstacle’s repulsive potential field.