Interface Edge

Array of action objects with detailed information.

Sets direction at junctions for line-guided or wire-guided mobile robots, to be defined initially (mobile robot-individual).

Additional information on the edge.

Identifier of the edge. May not be unique among the edges of the same order.

Distance of the path from the start node to the end node in meters. Optional: This value is used by line-guided mobile robots to decrease their speed before reaching a stop position.

Maximum rotation speed in rad/s. Optional: No limit, if not set.

Permitted maximum height of the mobile robot, including the load, on edge in meters.

Permitted maximum speed on the edge in m/s. Speed is defined by the fastest measurement of the mobile robot.

Permitted minimal height of the load handling device on the edge in meters

Orientation of the mobile robot on the edge. The value orientationType defines if it has to be interpreted relative to the global project specific map coordinate system or tangential to the edge. In case of interpreted tangential to the edge 0.0 = forwards and PI = backwards. Example: orientation Pi/2 rad will lead to a rotation of 90 degrees. If mobile robot starts in different orientation, rotate the mobile robot on the edge to the desired orientation if rotationAllowed is set to True. If rotationAllowed is False, rotate before entering the edge. If that is not possible, reject the order. If no trajectory is defined, apply the rotation to the direct path between the two connecting nodes of the edge. If a trajectory is defined for the edge, apply the orientation to the trajectory.

Enum {GLOBAL, TANGENTIAL}: GLOBAL: relative to the global project specific map coordinate system; TANGENTIAL: tangential to the edge. If not defined, the default value is TANGENTIAL.

True: Desired edge orientation shall be reached before entering the edge. False: Mobile robot can rotate into the desired orientation on the edge. Default: False.

True indicates that the edge is part of the base. False indicates that the edge is part of the horizon.

Number to track the sequence of nodes and edges in an order and to simplify order updates. The sequenceId is shared between nodes and edges and defines the sequence of traversal.

Trajectory JSON-object for this edge as a NURBS. Defines the curve, on which the mobile robot should move between the start node and the end node. Optional: Can be omitted, if mobile robot cannot process trajectories or if mobile robot plans its own trajectory.