Relaxation

Applies an exponential relaxation to the output command \(v\)

\[\dot v_f = \frac{v - v_f}{\tau}\]

and returns \(v_f\).

Example

The video has been recorded using

$ navground_py record_video relaxation.yaml relaxation.mp4 --factor 5

with the following configuration

steps: 900
time_step: 0.0333
scenario:
  groups:
    - type: quadrotor
      color: darkcyan
      number: 1
      radius: 0.25
      control_period: 0.1
      orientation: 1
      kinematics:
        type: Omni
        max_speed: 1
        max_angular_speed: 3.14
      behavior:
        type: Dummy
        heading: target_point
        modulations:
          - type: Relaxation
            tau: 1
      task:
        type: Waypoints
        waypoints: [[2, 0], [-2, 0]]
        loop: true
        tolerance: 0.5