Limiting the twist

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Limiting the twist#

Modifies the command clipping it to an interval.

Example#

The video has been recorded using

$ navground_py record_video limit_twist.yaml limit_twist.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: LimitTwist
            forward: 1.0
            backwards: 0.1
            leftward: 0.5
            rightward: 0.5
      task:
        type: Waypoints
        waypoints: [[2, 0], [-2, 0]]
        loop: true
        tolerance: 0.5
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