Relaxation

#include "navground/core/behavior_modulations/relaxation.h"

class RelaxationModulation : public navground::core::BehaviorModulation

A modulation to relax the command over time, used by HLBehavior.

Registered properties:

• tau (see get_tau)

Public Functions

inline explicit RelaxationModulation(ng_float_t tau = default_tau)

Construct a new instance.

Parameters:

tau – [in] The relaxation time

inline ng_float_t get_tau() const

Gets the relaxation time \(\tau\). Higher values lead to lower accelerations.

Returns:

\(\tau\)

inline void set_tau(ng_float_t value)

Sets the relaxation time \(\tau\). Higher values lead to lower accelerations.

Parameters:

value – [in] A positive value. If zero, relaxation is disabled.

Public Static Attributes

static ng_float_t default_tau = 0.125

Default \(\tau\)