obstacle_patch

It describes the patch version, priority, and geometric shape configuration for defining obstacle regions in the environment.

Main Properties

Properties:

Name	Type	Description
version	string	Patch version.
patch	object	Object defining the obstacle patch properties.

Object patch

Properties:

Name	Type	Description
priority	integer	Patch priority. Minimum value: 1.
shape	object	Defines the geometric shape of the obstacle patch.

Object shape

Properties:

Name	Type	Description
type	string (enum)	Geometric shape type. Possible values: - Homogeneous - Gaussian - Spherical - Cubic - RandomGaussian
cubicParams	object	Parameters for cubic shapes.
sphericalParams	object	Parameters for spherical shapes.
homogeneousParams	object	Parameters for homogeneous shapes.
gaussianParams	object	Parameters for Gaussian shapes.
randomGaussianParams	object	Parameters for random Gaussian shapes.

Object cubicParams

Properties:

Name	Type	Description
bottomLeftCorner	array[number]	Coordinates of the bottom-left corner.
topRightCorner	array[number]	Coordinates of the top-right corner.

Object sphericalParams

Properties:

Name	Type	Description
center	array[number]	Center coordinates of the sphere.
radius	number	Radius of the sphere. Minimum value: 0.0.

Object homogeneousParams

Currently does not contain any specific properties.

Object gaussianParams

Currently does not contain any specific properties.

Object randomGaussianParams

Currently does not contain any specific properties.

Hierarchical Summary

obstacle_patch
├── version: string
└── patch: object
    ├── priority: integer ≥ 1
    └── shape:
        ├── type: enum [Homogeneous, Gaussian, Spherical, Cubic, RandomGaussian]
        ├── cubicParams:
        │   ├── bottomLeftCorner: array[number]
        │   └── topRightCorner: array[number]
        ├── sphericalParams:
        │   ├── center: array[number]
        │   └── radius: number ≥ 0.0
        ├── homogeneousParams: {}
        ├── gaussianParams: {}
        └── randomGaussianParams: {}