PlannerSettings::GlobalSettings Struct Reference

Global settings. More...

#include <PlannerSettings.h>

Inheritance diagram for PlannerSettings::GlobalSettings:

Collaboration diagram for PlannerSettings::GlobalSettings:

Classes
struct	BenchmarkSettings
	Settings related to benchmarking. More...
struct	EnvironmentSettings
struct	ForwardPropagationSettings
struct	OmplSettings
	Settings related to OMPL. More...
struct	SbplSettings
struct	SmoothingSettings
struct	SteerSettings
struct	ThetaStarSettings

Public Member Functions
	GlobalSettings ()
void	load (const nlohmann::json &j)

Public Attributes
std::shared_ptr< Environment >	environment
	Environment used for planning. More...
PlannerSettings::GlobalSettings::EnvironmentSettings	env
PlannerSettings::GlobalSettings::EnvironmentSettings	this
Property< bool >	log_env_distances {false, "log_env_distances", this}
	Whether to log the distances precomputed by the grid mazes. More...
Property< bool >	auto_choose_distance_computation_method
Property< distance_computation::Method >	distance_computation_method
Property< double >	max_planning_time {15, "max_planning_time", this}
Property< unsigned int >	fast_odf_threshold
	For maps with more cells than this threshold, a fast approximating algorithm is used to compute the obstacle distance field (necessary for clearance evaluations and GRIPS). More...
Property< bool >	estimate_theta {false, "estimate_theta", this}
	Whether to estimate the orientation of the start and goal states for planners that need them (e.g. More...
Property< bool >	evaluate_clearing {true, "evaluate_clearing", this}
	Whether to compute stats on clearing distances of the found solutions. More...
Property< double >	exact_goal_radius {1e-2, "exact_goal_radius", this}
	Radius threshold to evaluate whether the exact goal has been found. More...
Property< unsigned int >	interpolation_limit {500u, "interpolation_limit", this}
	Any og::PathGeometric with more nodes will not get interpolated. More...
Property< double >	max_path_length {10000, "max_path_length", this}
	Maximal length a og::PathGeometric can have to be interpolated. More...
Property< double >	cusp_angle_threshold
	Threshold in radians of the difference between consecutive yaw angles to be considered a cusp. More...
PlannerSettings::GlobalSettings::BenchmarkSettings	benchmark
PlannerSettings::GlobalSettings::BenchmarkSettings	this
PlannerSettings::GlobalSettings::OmplSettings	ompl
PlannerSettings::GlobalSettings::OmplSettings	this
PlannerSettings::GlobalSettings::SteerSettings	steer
PlannerSettings::GlobalSettings::SteerSettings	this
PlannerSettings::GlobalSettings::ForwardPropagationSettings	forwardpropagation
PlannerSettings::GlobalSettings::ForwardPropagationSettings	this
PlannerSettings::GlobalSettings::SbplSettings	sbpl
PlannerSettings::GlobalSettings::SbplSettings	this
PlannerSettings::GlobalSettings::SmoothingSettings	smoothing
PlannerSettings::GlobalSettings::SmoothingSettings	this
PlannerSettings::GlobalSettings::ThetaStarSettings	theta_star
PlannerSettings::GlobalSettings::ThetaStarSettings	this

Detailed Description

Global settings.

Constructor & Destructor Documentation

GlobalSettings()

PlannerSettings::GlobalSettings::GlobalSettings ( )

inline

Member Function Documentation

load()

void PlannerSettings::GlobalSettings::load ( const nlohmann::json &  j )

inline

Member Data Documentation

auto_choose_distance_computation_method

Property<bool> PlannerSettings::GlobalSettings::auto_choose_distance_computation_method

Initial value:

{
      true, "auto_choose_distance_computation_method", this}

benchmark

PlannerSettings::GlobalSettings::BenchmarkSettings PlannerSettings::GlobalSettings::benchmark

cusp_angle_threshold

Property<double> PlannerSettings::GlobalSettings::cusp_angle_threshold

Initial value:

{60 * M_PI / 180.,
                                        "cusp_angle_threshold", this}

Threshold in radians of the difference between consecutive yaw angles to be considered a cusp.

distance_computation_method

Property<distance_computation::Method> PlannerSettings::GlobalSettings::distance_computation_method

Initial value:

{
      distance_computation::BRUTE_FORCE, "distance_computation_method", this}

env

PlannerSettings::GlobalSettings::EnvironmentSettings PlannerSettings::GlobalSettings::env

environment

std::shared_ptr<Environment> PlannerSettings::GlobalSettings::environment

Environment used for planning.

estimate_theta

Property<bool> PlannerSettings::GlobalSettings::estimate_theta {false, "estimate_theta", this}

Whether to estimate the orientation of the start and goal states for planners that need them (e.g.

SBPL).

evaluate_clearing

Property<bool> PlannerSettings::GlobalSettings::evaluate_clearing {true, "evaluate_clearing", this}

Whether to compute stats on clearing distances of the found solutions.

exact_goal_radius

Property<double> PlannerSettings::GlobalSettings::exact_goal_radius {1e-2, "exact_goal_radius", this}

Radius threshold to evaluate whether the exact goal has been found.

fast_odf_threshold

Property<unsigned int> PlannerSettings::GlobalSettings::fast_odf_threshold

Initial value:

{100 * 100, "fast_odf_threshold",
                                            this}

For maps with more cells than this threshold, a fast approximating algorithm is used to compute the obstacle distance field (necessary for clearance evaluations and GRIPS).

forwardpropagation

PlannerSettings::GlobalSettings::ForwardPropagationSettings PlannerSettings::GlobalSettings::forwardpropagation

interpolation_limit

Property<unsigned int> PlannerSettings::GlobalSettings::interpolation_limit {500u, "interpolation_limit", this}

Any og::PathGeometric with more nodes will not get interpolated.

log_env_distances

Property<bool> PlannerSettings::GlobalSettings::log_env_distances {false, "log_env_distances", this}

Whether to log the distances precomputed by the grid mazes.

max_path_length

Property<double> PlannerSettings::GlobalSettings::max_path_length {10000, "max_path_length", this}

Maximal length a og::PathGeometric can have to be interpolated.

max_planning_time

Property<double> PlannerSettings::GlobalSettings::max_planning_time {15, "max_planning_time", this}

ompl

PlannerSettings::GlobalSettings::OmplSettings PlannerSettings::GlobalSettings::ompl

sbpl

PlannerSettings::GlobalSettings::SbplSettings PlannerSettings::GlobalSettings::sbpl

smoothing

PlannerSettings::GlobalSettings::SmoothingSettings PlannerSettings::GlobalSettings::smoothing

steer

PlannerSettings::GlobalSettings::SteerSettings PlannerSettings::GlobalSettings::steer

theta_star

PlannerSettings::GlobalSettings::ThetaStarSettings PlannerSettings::GlobalSettings::theta_star

this [1/8]

PlannerSettings::GlobalSettings::EnvironmentSettings PlannerSettings::GlobalSettings::this

this [2/8]

PlannerSettings::GlobalSettings::BenchmarkSettings PlannerSettings::GlobalSettings::this

this [3/8]

PlannerSettings::GlobalSettings::OmplSettings PlannerSettings::GlobalSettings::this

this [4/8]

PlannerSettings::GlobalSettings::SteerSettings PlannerSettings::GlobalSettings::this

this [5/8]

PlannerSettings::GlobalSettings::ForwardPropagationSettings PlannerSettings::GlobalSettings::this

this [6/8]

PlannerSettings::GlobalSettings::SbplSettings PlannerSettings::GlobalSettings::this

this [7/8]

PlannerSettings::GlobalSettings::SmoothingSettings PlannerSettings::GlobalSettings::this

this [8/8]

PlannerSettings::GlobalSettings::ThetaStarSettings PlannerSettings::GlobalSettings::this

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The documentation for this struct was generated from the following file:

• src/base/PlannerSettings.h