#include <PlannerSettings.h>
Inheritance diagram for PlannerSettings::GlobalSettings::SbplSettings:
Collaboration diagram for PlannerSettings::GlobalSettings::SbplSettings:
Public Attributes | |
| Property< bool > | search_until_first_solution |
| Search until it finds a solution (even if allotted time is over)? More... | |
| Property< double > | initial_solution_eps {3, "initial_solution_eps", this} |
| TODO verify description How much deviation from optimal solution is acceptable (>1)? Ignored by planners that don't have notion of epsilon, 1 means optimal search. More... | |
| Property< double > | forward_velocity |
| Property< double > | time_to_turn_45_degs_in_place |
| Property< std::string > | motion_primitive_filename |
| Property< unsigned int > | num_theta_dirs {16u, "num_theta_dirs", this} |
| XXX Important: number of theta directions must match resolution in motion primitive definition file. More... | |
| Property< double > | resolution {0.25, "resolution", this} |
| XXX Important: resolution must match resolution in motion primitive definition file. More... | |
| Property< double > | scaling {1, "scaling", this} |
| Scale environment to accommodate extents of SBPL's motion primitives. More... | |
| Property< double > | goal_tolerance_x {1, "goal_tolerance_x", this} |
| These tolerances are most likely ignored by SPBL at the moment. More... | |
| Property< double > | goal_tolerance_y {1, "goal_tolerance_y", this} |
| Property< double > | goal_tolerance_theta |
Member Data Documentation
◆ forward_velocity
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::forward_velocity |
Initial value:
{0.2, "forward_velocity",
this}
◆ goal_tolerance_theta
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::goal_tolerance_theta |
Initial value:
{2 * M_PI, "goal_tolerance_theta",
this}
◆ goal_tolerance_x
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::goal_tolerance_x {1, "goal_tolerance_x", this} |
These tolerances are most likely ignored by SPBL at the moment.
◆ goal_tolerance_y
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::goal_tolerance_y {1, "goal_tolerance_y", this} |
◆ initial_solution_eps
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::initial_solution_eps {3, "initial_solution_eps", this} |
TODO verify description How much deviation from optimal solution is acceptable (>1)? Ignored by planners that don't have notion of epsilon, 1 means optimal search.
◆ motion_primitive_filename
| Property<std::string> PlannerSettings::GlobalSettings::SbplSettings::motion_primitive_filename |
Initial value:
{
"./sbpl_mprim/unicycle_0.25.mprim", "motion_primitive_filename", this}
◆ num_theta_dirs
| Property<unsigned int> PlannerSettings::GlobalSettings::SbplSettings::num_theta_dirs {16u, "num_theta_dirs", this} |
XXX Important: number of theta directions must match resolution in motion primitive definition file.
◆ resolution
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::resolution {0.25, "resolution", this} |
XXX Important: resolution must match resolution in motion primitive definition file.
◆ scaling
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::scaling {1, "scaling", this} |
Scale environment to accommodate extents of SBPL's motion primitives.
Intuition: the smaller this number the larger the turning radius.
◆ search_until_first_solution
| Property<bool> PlannerSettings::GlobalSettings::SbplSettings::search_until_first_solution |
Initial value:
{
false, "search_until_first_solution", this}
Search until it finds a solution (even if allotted time is over)?
◆ time_to_turn_45_degs_in_place
| Property<double> PlannerSettings::GlobalSettings::SbplSettings::time_to_turn_45_degs_in_place |
Initial value:
{
0.6, "time_to_turn_45_degs_in_place", this}
The documentation for this struct was generated from the following file:
- src/base/PlannerSettings.h
