This crane control apparatus and method with swing control and variable impedance is intended for use with overhead cranes where a line suspended from a moveable hoist suspends a load. A straight edge exists along the length as do distance markings in at least one unit of measurement. 0 mol % of structural units derived from at least one ethylenically unsaturated ester having a C1- to C3-alkyl radical,ii) contains from 0. Further, because useful information for position-based routing is already embedded during the position estimation process, no extra transmission is required for efficient route determination in reporting data to a collecting node.