<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">%-------------------------------------------------------------------------
\subsection*{Parameter Summary for BHV\_Waypoint}
%-------------------------------------------------------------------------

\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}
    capture\_radius &amp; double &amp; \vvar{7}        &amp;  -    &amp; \vvar{0}      &amp; \pageref{sec_wpt_capture_params} \\
    cycleflag &amp; \vvar{MOOSVAR=value} &amp; \vvar{CYCLED=true} &amp; yes &amp; -    &amp; \pageref{bhv_waypoint} \\
    wptflag   &amp; \vvar{MOOSVAR=value} &amp; \vvar{MEASURE=true} &amp; yes &amp; -   &amp; \pageref{sec_wpt_wpt_flag} \\
    lead            &amp; double &amp; \vvar{10}       &amp;  -    &amp; \vvar{-1}     &amp; \pageref{sec_wpt_lead}   \\
    lead\_damper    &amp; double &amp; \vvar{2}        &amp;  -    &amp; \vvar{-1}     &amp; \pageref{sec_wpt_lead}   \\
    lead\_on\_start &amp; Boolean string &amp; \vvar{TRUE}     &amp;  no   &amp; \vvar{false}  &amp; \pageref{sec_wpt_lead}  \\
    slip\_radius    &amp; double &amp; \vvar{18}       &amp;  -    &amp; \vvar{0}      &amp; \pageref{sec_wpt_capture_params}  \\
    order           &amp; string &amp; \vvar{reverse}  &amp;  no   &amp; \vvar{normal} &amp; \pageref{sec_wpt_order_repeat}  \\
    point           &amp; string &amp; \vvar{20,5}     &amp;  yes  &amp; -             &amp; \pageref{sec_wpt_points} \\
    {\bf points, polygon} &amp; string &amp; \vvar{0,0:45,0:45,80:0,0} &amp; yes &amp; - &amp; \pageref{sec_wpt_points} \\
    post\_suffix    &amp; string &amp; \vvar{IKE}      &amp;  yes  &amp; \vvar{""}     &amp; \pageref{bhv_waypoint}  \\
    repeat          &amp; int    &amp; \vvar{3}        &amp;  no   &amp; \vvar{0}      &amp; \pageref{sec_wpt_order_repeat} \\
    speed           &amp; double &amp; \vvar{1.2}      &amp;  -    &amp; \vvar{0}      &amp; \pageref{bhv_waypoint}  \\
    visual\_hints   &amp; string &amp; \vvar{edge\_size=1} &amp;  no    &amp; -        &amp; \pageref{sec_wpt_visual_hints} \\ \hline 
    
  \end{tabular}
  \normalsize}
\end{minipage}
\caption{Parameters for the BHV\_Waypoint behavior.a}
\label{table_bparams_waypoint}
\end{table}

\subsection*{Variables posted by the BHV\_Waypoint Behavior}

The following variables may be posted by the \var{BHV\_Waypoint} behavior 
in addition to any configured flags (with the runflag, idleflag, activeflag, 
inactiveflag, and cycleflag parameters).

\begin{itemize}
\item \var{VIEW\_POINT}, \var{VIEW\_SEGLIST}, \var{WPT\_INDEX},
  \var{CYCLE\_INDEX}, \var{WPT\_STAT}
\end{itemize}

\noindent
The variable names used may be changed with the \pvar{post\_mapping} parameter.
See page \pageref{sec_bhv_post_mapping}.

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

\refstepcounter{alisting}
\vspace{0.1in}
\noindent
{\em {Listing \thesection.\arabic{alisting} - An example BHV\_Waypoint configuration.}}
\label{bhv_waypoint_block}
\scriptsize
\begin{verbatim}
 0  Behavior = BHV_Waypoint
 1  {
 2    name       = waypt_survey
 3    priority   = 100
 4    updates    = WPT_SURVEY_UPDATES
 5    condition  = (DEPLOY == true) or (SURVEY == on))
 6    endflag    = SURVEY = COMPLETE
 7
 8            points = label,survey_points:-57,-60:-70,-109:-77,-144:-51
 9
10             speed = 3.0  // meters per second
11    capture_radius = 8.0  // meters
12         nm_radius = 16.5 // meters
13            repeat = 0    // number of iterations
14              lead = 10   // meters
15  }
\end{verbatim}
\normalsize
</pre></body></html>