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\newpage \subsection*{Parameter Summary for BHV\_AvoidCollision}
%-------------------------------------------------------------------------

\begin{table}[ht]
\begin{minipage}[c]{1.0\textwidth}
  \centering
  \mbox{
  \footnotesize
  \begin{tabular}{|l|l|l|c|l|r|} \hline Parameter &amp; Argument Type &amp;
    Example &amp; Case-Sensitive &amp; Default &amp; Page \\ \hline \hline
    \input{behaviors/apx_params_general} \input{behaviors/apx_params_multi}
    bearing\_lines          &amp; string &amp;           &amp; no &amp; -  &amp;  \pageref{bhv_avoidcollision}  \\
    pwt\_grade              &amp; string &amp; quadratic &amp;  no &amp; \vvar{linear}  &amp; \pageref{sec_bhv_avdcol_pwt_params}  \\
    completed\_dist         &amp; double &amp; 200    &amp;  -   &amp; \vvar{500}  &amp; \pageref{bhv_avoidcollision}  \\
    pwt\_inner\_dist        &amp; double &amp; 50     &amp;  -   &amp; \vvar{50}  &amp; \pageref{sec_bhv_avdcol_pwt_params}  \\
    pwt\_outer\_dist        &amp; double &amp; 200    &amp;  -   &amp; \vvar{200} &amp; \pageref{sec_bhv_avdcol_pwt_params} \\
    max\_util\_cpa\_dist    &amp; double &amp; 100    &amp;  -   &amp; \vvar{75}  &amp; \pageref{sec_bhv_avdcol_cpa_params} \\
    min\_util\_cpa\_dist    &amp; double &amp; 10 &amp; - &amp; \vvar{10} &amp;    \pageref{sec_bhv_avdcol_cpa_params} \\ \hline
  \end{tabular}
  \normalsize}
\end{minipage}
\caption{Parameters for the BHV\_AvoidCollision behavior.}
\label{table_bparams_avoidcollision}
\end{table}

\subsection*{Example Behavior File Configuration for  BHV\_AvoidCollision}

\refstepcounter{alisting}
\vspace{0.1in}
\noindent
{\em {Listing \thesection.\arabic{alisting} - An example BHV\_AvoidCollision 
configuration.}}
\label{bhv_avoidcollision_block}
\scriptsize
\begin{verbatim}
 0  Behavior = BHV_AvoidCollision
 1  {
 2    name      = avoid_collision_alpha
 3    pwt       = 100
 4    condition = AVOIDANCE_MODE != INACTIVE
 5
 6                 contact = alpha
 7       on_no_contact_ok = true
 8            extrapolate = true
 9                  decay = 30,60
10
11           pwt_outer_dist = 150
12           pwt_inner_dist = 75
13        min_util_cpa_dist = 15
14        max_util_cpa_dist = 80
15               pwt_grade = linear
16     bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.016
14  }
\end{verbatim}
\normalsize

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