monitor_relative_distance

Triggers when a frame moved a certain relative distance.

Defined at line 115 of file monitors/geometry.xml in package pitasc_library.

Meta data

Categories

geometry

Prototypes

monitor_distance, monitor, object, dictionary, base, descriptive

Parameters

Required parameters:

reference_frame : string

Static frame from which the moving frame is observed (e.g. world).

frame : string

Moving frame

coordinates : csv:string

Observed axes.

distances : csv:float

Distances threshold (m or rad). Aligned to the distance_coordinates member.

operator : string

Operator name (e.g. less, absolute_greater, greater_equal, absolute_less_equal,…)

Basic parameters:

event : string

Primary event that is triggered by the monitor

Default: succeeded

target_offsets : csv:float

Offsets to the target. There must be as many values as there are coordinates. If no value is given, 0 is used for all coordinates.

Hidden parameters:

distance_coordinates : csv:string

Possible axes names that can be given in the member coordinates. The given distances are aligned to the axes given here.

kinematic_graph : dict

Graph of kinematic links

Examples

monitor_relative_distance is used in the following examples:

• geometry.xml

• blacklist.xml