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added track loss timeout to load from landmark yaml #48

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Merged
CurryMonsters merged 2 commits into from
Apr 2, 2026
Merged

added track loss timeout to load from landmark yaml #48

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656056c
added track loss timeout to load from landmark yaml
CurryMonsters Apr 2, 2026
4ce3172
Merge branch 'main' into fix/waypoint-utils
CurryMonsters Apr 2, 2026
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1 change: 1 addition & 0 deletions vortex_utils/include/vortex/utils/waypoint_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ struct LandmarkConvergenceGoal {
WaypointMode mode;
double convergence_threshold{0.1};
double dead_reckoning_threshold{0.5};
double track_loss_timeout_sec{10.0};
};

/**
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8 changes: 7 additions & 1 deletion vortex_utils/src/waypoint_utils.cpp
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Expand Up @@ -215,11 +215,17 @@ LandmarkConvergenceGoal load_landmark_goal_from_yaml(
entry["dead_reckoning_threshold"].as<double>();
}

double track_loss_timeout_sec = 10.0;
if (entry["track_loss_timeout_sec"]) {
track_loss_timeout_sec = entry["track_loss_timeout_sec"].as<double>();
}

return LandmarkConvergenceGoal{
.convergence_offset = convergence_offset,
.mode = mode,
.convergence_threshold = convergence_threshold,
.dead_reckoning_threshold = dead_reckoning_threshold};
.dead_reckoning_threshold = dead_reckoning_threshold,
.track_loss_timeout_sec = track_loss_timeout_sec};
}

} // namespace vortex::utils::waypoints
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