TraversabilityConfig.hpp

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#pragma once
 
namespace traversability_generator3d
{
 
enum SlopeMetric
{
    
    AVG_SLOPE,
    MAX_SLOPE,
    TRIANGLE_SLOPE,
    NONE
};
 
class TraversabilityConfig
{
public:
 
    TraversabilityConfig()
        : maxStepHeight(0.05)
        , maxSlope(0.5)
        , inclineLimittingMinSlope(0.2)
        , inclineLimittingLimit(0.1)
        , costFunctionDist(0.0)
        , minTraversablePercentage(0.4)
        , robotHeight(0.5)
        , robotSizeX(0.5)
        , robotSizeY(0.5)
        , footprintOffsetX(0.0)
        , distToGround(0)
        , slopeMetricScale(1.0)
        , slopeMetric(NONE)
        , gridResolution(0.3)
        , initialPatchVariance(0.01 * 0.01)
        , obstacleInflationMultiplier(1.0)
 
        , partiallyTraversableMultiplier(2.0)
        , allowForwardDownhill(true)
        , enableInclineLimitting(false)
        , useSoilInformation(false)
        , traverseSand(true)
        , traverseRocks(true)
        , traverseGravel(true)
        , traverseConcrete(true)
        , articulatedSuspension(true)
        , numYawSamples(12)
        , numThreads(0)
    {};
 
    double maxStepHeight;
 
    double maxSlope;
 
    double inclineLimittingMinSlope;//[rad] below this slope the robot may move freely, the incline is not limited.
    double inclineLimittingLimit;
 
    double costFunctionDist;
 
    double minTraversablePercentage;
 
    //dimensions of the robot bounding box.
    double robotHeight;
    double robotSizeX;
    double robotSizeY;
 
    double footprintOffsetX;
 
    /* Distance from body frame to ground
     * start and goal position are expected in body frame
     */
    double distToGround;
 
    double slopeMetricScale;
 
    SlopeMetric slopeMetric;
 
    double gridResolution;
 
    double initialPatchVariance;
 
    double obstacleInflationMultiplier;
 
    // Cost multiplier for traversing a partially traversable cell.
    double partiallyTraversableMultiplier;
 
    bool allowForwardDownhill;
 
    bool enableInclineLimitting;
 
    bool useSoilInformation;
    bool traverseSand;
    bool traverseRocks;
    bool traverseGravel;
    bool traverseConcrete;
    bool articulatedSuspension;
 
    int numYawSamples;
 
    int numThreads;
};
}