DesCmdVel

class mobrob_behcon.desires.desires.DesCmdVel(value, strength)

The class DesCmdVel

Represents a Desire for controlling the movement of the robot. Similar to its parent class it hase three attributes: value, strength, priority. The value is a tuple of 6 float values mapped to following values in /cmd_vel message: [linear.x, linear.y, linear.z, angular.x, angular.y, angular.z]

Methods

__init__(value, strength)	Construct a new 'Desire' object.
set_priority(priority)	Setter for attribute priority

Details

__init__(value, strength)

Construct a new ‘Desire’ object.

Parameters

• value – the numberic value of the desire, can be also be a array/list

• strength – the strength of the desire

• function – the function need to be executed when desire is accepted (optional)

Returns

returns nothing

set_priority(priority)

Setter for attribute priority

Parameters

priority – priority to be set

Returns

returns nothing