ST_TrackingParameters - General Information

Overview

Type:	Data structure
Available as of:	V2.14.0.0
Inherits from:	-

Description

Structure to describe additional parameters for a tracking system.

Also refer to Minimizing the Influence of a Tracking System on the Trajectory of a Robot.

Structure Elements

Variable	Data type	Description
`lrAccelerationZeroThreshold`	`LREAL`	This value defines an acceleration limit for a tracking system. For accelerations below this limit, the state of the tracking system is treated as constant velocity or standstill during desynchronization phase. Valid values are: lrAccelerationZeroThreshold ≥ 0.0 lrAccelerationZeroThreshold = -1.0 To disable the detection of standstill or constant velocity set the value to -1.0. NOTE: Modifying the value for a tracking system via the method SetTrackingParameters() while the tracking system is active during the call of the method, is only taken into account after leaving and reentering the tracking system.

Variable

Data type

Description

lrAccelerationZeroThreshold

LREAL

This value defines an acceleration limit for a tracking system. For accelerations below this limit, the state of the tracking system is treated as constant velocity or standstill during desynchronization phase.

Valid values are:

lrAccelerationZeroThreshold ≥ 0.0
lrAccelerationZeroThreshold = -1.0

To disable the detection of standstill or constant velocity set the value to -1.0.

NOTE: Modifying the value for a tracking system via the method SetTrackingParameters() while the tracking system is active during the call of the method, is only taken into account after leaving and reentering the tracking system.