yTrajectory Generation Modulez


[1.J]
	PC		:Vaio-Z(VGN-Z90NS)
	OS		:Windows Vista(SP2)
	OpenRTM-aist	:Ver.1.0.0(RC)
	J	:C/C++

[2.W[ڍ]
 <̓|[g>
    1.[TimedOdometry odo]
        //Ȉʒu茋ʂOdometry
        -[Time tm]
        -[double x]
        -[double y]
        -[double theta]

    2.[TimedObstacles obst]
        //QmW[̏Q(ȉ~̂ɋߎ)
        -[Time tm]
        -[long num]			//Q̑
        -[sequence<Obstacle> obstacles]
	//Q\̔z
                -[double x]		//QxW[m]
                -[double y]		//QyW[m]
                -[double a]		//QxW̑ȉ~̂̕ӂ̒()
                -[double b]		//QyW̑ȉ~̂̕ӂ̒(Z)
                -[double theta]		//ȉ~̂̌X[rad]

    3.[BitmapInfo bmpinfo]
        //rbg}bv̓|[g(gp\|[g)
        -[string imagename]		//擾摜
        -[PixelSize pxlsize]		//1sNZ[m]~[m]ɑ邩̏
                -[double width]		//1sNZ̕[m]
                -[double height]	//1sNZ̍[m]
        -[ImageSize imgsize]
		//摜Ŝ̑傫[pixel]
                -[long width_num]	//sNZ:[pixel]
                -[long height_num]	//sNZ:[pixel]


 <o̓|[g>
    1.[TimedVelocity vel]
        //Ov挋ʂ̍ŏ̑xCpxo
        -[Time tm]
        -[double v]			//ix[m/s]
        -[double w]			//]px[rad/s]


 <RtBM[V([]lID̓ftHgl)>
    1.Kal_Odo		[K,k,O,o]		//IhgKalman Filteȑo͂C{bg̃IhgH(WnقȂ邽߁D)
    2.LoadImageName	[RWRC/region00.bmp]	//[h摜D摜ԍ"01"珇ɂ邱
    3.LoadImageNum	[1`]			//[h摜̑
    4.a			[0.0`0.1`1.0]	//GlobalDynamicWindowApproach̏d݁DNF֐
    5.b			[0.0`0.4`1.0]	//GlobalDynamicWindowApproach̏d݁Dgoal֐
    6.c			[0.0`0.3`1.0]	//GlobalDynamicWindowApproach̏d݁DVelocity֐
    7.d			[0.0`0.2`1.0]	//GlobalDynamicWindowApproach̏d݁DdNF1֐
    8.vmax		[0.1`0.8`]		//{bg̍őix[m/s]
    9.avmax		[0.1`0.5`]		//ő]px[rad/s]
   10.vacc_max		[0.1`0.2`]		//őix[m/s^2]
   11.avacc_max		[0.1`0.5`]		//ő]px[rad/s^2]
   12.Tsimu		[0.1`3.0`]		//\O̗\[sec]
   13.tsamp		[0.1`0.3`]		//{bg̃TvO[sec]
   14.width		[0.1`0.6`]		//{bg[m]
   15.bunshi_num	[1`3`]		//œKO␔[{]
   16.n			[1`4`]		//TsimubԂ̗\JԂ
   17.flag_OBSTACLE	[0,1]			//Q̃O邩ƂȂ̃tO(:1CȂ:0)


[3.ӎ]
	E1.摜ԈႦĂƃG[͂D

	E2.OtsampɎĂCÓuTrajectory.logvD


[4.XV]
2009/11/21:΃`W2009ŎgpD(Ver.0.1)
2009/12/26:}jA쐬


[5.]
쐬:dCʐMw@㓡