StoppingBudgetScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/stopping.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
A machine at speed that must stop: travel during delay, then braking at deceleration.
clear_distance closes the budget when one is stated. speed_at_delay_end replaces constant-speed delay travel with the trapezoid between two recorded speeds; braking is still from speed. With a site (an embodied site scenario), the deceleration and clear distance default to the site’s, and its localization bound and protective margin join the required distance. added_delay prices one more delay step as travel at speed. The finished budget adds three optional terms: jerk (the resident S-curve stop’s jerk bound), tracking_bound (the tracking inset), and approach_speed (a person closing the gap through delay and stop).
Notes
Equation: Compose mlsysim.solvers.StoppingBudgetModel.
Assumptions: The selected braking limit, clearance, and site margins are credible scenario inputs; the stopping solver determines the kinematic budget.
Excludes: The calculation is not a safety certification, and unmodeled traction or control failures remain outside it.
References
Derivation: this scenario binds its input fields to the referenced implementation contracts: mlsysim.solvers.StoppingBudgetModel. The methods below identify any additional arithmetic.
Examples
>>> from mlsysim import Scenarios
>>> case = Scenarios.WarehouseAisleStopAtDriveLimit
>>> str(case.a_brake)
'2.0 m/s²'Attributes
| Name | Description |
|---|---|
| a_brake | Explicit braking deceleration, falling back to the site’s value. Equation: |
| added_delay | |
| approach_speed | |
| clear_distance | |
| d_clear | Explicit available clearance, otherwise the site’s clearance when a site exists. |
| deceleration | |
| delay | |
| jerk | |
| result | Evaluate this scenario through mlsysim.solvers.StoppingBudgetModel.solve. Equation: |
| site | |
| speed | |
| speed_at_delay_end | |
| tracking_bound |
speed
Type: Quantity.
Declared default: required.
delay
Type: Quantity.
Declared default: required.
deceleration
Type: Optional[Quantity].
Declared default: None.
clear_distance
Type: Optional[Quantity].
Declared default: None.
speed_at_delay_end
Type: Optional[Quantity].
Declared default: None.
site
Type: Optional[Any].
Declared default: None.
added_delay
Type: Optional[Quantity].
Declared default: None.
jerk
Type: Optional[Quantity].
Declared default: None.
tracking_bound
Type: Optional[Quantity].
Declared default: None.
approach_speed
Type: Optional[Quantity].
Declared default: None.
a_brake
engine.scenario_types.StoppingBudgetScenario.a_brake
Explicit braking deceleration, falling back to the site’s value. Equation: deceleration when present, otherwise site.a_brake. Units: acceleration magnitude; this is a specified credible bound, not a friction measurement.
d_clear
engine.scenario_types.StoppingBudgetScenario.d_clear
Explicit available clearance, otherwise the site’s clearance when a site exists. Equation: select clear_distance or site.d_clear. Units: length, or None when no clearance is specified.
result
engine.scenario_types.StoppingBudgetScenario.result
Evaluate this scenario through mlsysim.solvers.StoppingBudgetModel.solve. Equation: pass the stated fields to that implementation; its contract defines the calculation and feasibility tests. Units: each returned field follows the referenced result schema; no independent equation is evaluated by this wrapper.