Optional allowedIndicates how big the deviation of theta angle can be. The lowest acceptable angle is theta - allowedDeviationTheta and the highest acceptable angle is theta + allowedDeviationTheta.
Optional allowedIndicates how precisely a mobile robot shall match the position of a node for it to be considered traversed. If a = b= 0.0: no deviation is allowed, which means the mobile robot shall reach or pass the node position with the mobile robot control point as precisely as is technically possible for the mobile robot. This applies also if allowedDeviationXY is smaller than what is technically viable for the mobile robot. If the mobile robot supports this attribute, but it is not defined for this node by fleet control the mobile robot shall assume the value of a and b as 0.0. The coordinates of the node defines the center of the ellipse.
Unique identification of the map in which the position is referenced.
Optional thetaAbsolute orientation of the mobile robot on the node. Optional: mobile robot can plan the path by itself. If defined, the mobile robot has to assume the theta angle on this node. If previous edge disallows rotation, the mobile robot must rotate on the node. If following edge has a differing orientation defined but disallows rotation, the mobile robot is to rotate on the node to the edges desired rotation before entering the edge.
X-position on the map in reference to the map coordinate system. Precision is up to the specific implementation.
Y-position on the map in reference to the map coordinate system. Precision is up to the specific implementation.
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Defines the position on a map in a global project-specific world coordinate system. Each floor has its own map. All maps must use the same project specific global origin. Optional for mobile robot-types that do not require the node position (e.g., line-guided mobile robots).