Task

Schema

$id: http://navground/task
$ref: task_register
$schema: https://json-schema.org/draft/2020-12/schema
properties:
  type:
    type: string
type: object
unevaluatedProperties: false

Register

$id: http://navground/task_register
$schema: https://json-schema.org/draft/2020-12/schema
anyOf:
- properties:
    direction:
      $ref: vector2
      default:
      - 1
      - 0
      description: direction
    type:
      const: Direction
- properties:
    angular_tolerance:
      default: .inf
      description: Angular tolerance [rad]
      type: number
    orientation:
      default: 0
      description: Goal orientation [rad]
      type: number
    point:
      $ref: vector2
      default:
      - 0
      - 0
      description: Goal point [m]
    tolerance:
      default: 1
      description: Spatial tolerance [m]
      minimum: 0
      type: number
    type:
      const: GoToPose
- properties:
    points:
      default: []
      description: points
      items:
        $ref: vector2
      minItems: 2
      type: array
    tolerance:
      default: 1
      description: tolerance
      minimum: 0
      type: number
    type:
      const: Path
- properties:
    angular_tolerance:
      default: .inf
      description: Default angular tolerance [rad]
      type: number
    angular_tolerances:
      default: []
      description: Specific angular tolerances [rad]
      items:
        type: number
      type: array
    loop:
      default: true
      description: loop
      type: boolean
    orientations:
      default: []
      description: orientations
      items:
        type: number
      type: array
    random:
      default: false
      description: Whether to pick the next waypoint randomly
      type: boolean
    tolerance:
      default: 1
      description: Default spatial tolerance [m]
      minimum: 0
      type: number
    tolerances:
      default: []
      description: Specific spatial tolerances [m]
      items:
        type: number
      type: array
    type:
      const: Waypoints
    wait_time:
      default: 0
      description: Default wait time [s]
      minimum: 0
      type: number
    wait_times:
      default: []
      description: Specific wait times [s]
      items:
        type: number
      type: array
    waypoints:
      default: []
      description: waypoints
      items:
        $ref: vector2
      minItems: 1
      type: array

Example

type: Waypoints
waypoints: [[0.1, 1.2], [3.4, 4.5], [5.6, 7.8]]
tolerance: 0.2