#include <TraversabilityConfig.hpp>
◆ TraversabilityConfig()
| traversability_generator3d::TraversabilityConfig::TraversabilityConfig |
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◆ allowForwardDownhill
| bool traversability_generator3d::TraversabilityConfig::allowForwardDownhill |
if true the robot is allowed to drive downhill forward, otherwise it has to drive downhill backwards
◆ articulatedSuspension
| bool traversability_generator3d::TraversabilityConfig::articulatedSuspension |
◆ costFunctionDist
| double traversability_generator3d::TraversabilityConfig::costFunctionDist |
Objects within a corridor of width costFunctionDist around a trajectory will influence the cost function.
◆ distToGround
| double traversability_generator3d::TraversabilityConfig::distToGround |
◆ enableInclineLimitting
| bool traversability_generator3d::TraversabilityConfig::enableInclineLimitting |
if true, incline limitting is enabled and the robot motion is restricted when moving on steep hills.
◆ footprintOffsetX
| double traversability_generator3d::TraversabilityConfig::footprintOffsetX |
Forward (x) offset of the footprint-box CENTER from the robot origin, in the robot frame. 0 keeps the historic behavior (box centered on the origin). A robot whose origin is not at its geometric center (e.g. a front tool) sets this so the box [offset - sizeX/2, offset + sizeX/2] matches the real machine instead of mirroring the larger side.
◆ gridResolution
| double traversability_generator3d::TraversabilityConfig::gridResolution |
◆ inclineLimittingLimit
| double traversability_generator3d::TraversabilityConfig::inclineLimittingLimit |
[rad] At maxSlope the robot's movement direction may only deviate by +-inclineLimittingLimit from the direction of the steepest slope
◆ inclineLimittingMinSlope
| double traversability_generator3d::TraversabilityConfig::inclineLimittingMinSlope |
-— incline limitting --— The orientation at which the path crosses the incline of the terrain is limited. The steeper the terrain, the less is the path allowed to deviate from the steepest direction. I.e. the steeper it gets, the more straight the path becomes.
◆ initialPatchVariance
| double traversability_generator3d::TraversabilityConfig::initialPatchVariance |
The variance that "initial patches" should have.
- See also
- Planner::setInitialPatch()
◆ maxSlope
| double traversability_generator3d::TraversabilityConfig::maxSlope |
[rad] maximum traversable slope. Above this slope no travmap entries will be generated
◆ maxStepHeight
| double traversability_generator3d::TraversabilityConfig::maxStepHeight |
The maximum step height that the robot can traverse. This is used during map expansion. Steps heigher than this become map boundaries
◆ minTraversablePercentage
| double traversability_generator3d::TraversabilityConfig::minTraversablePercentage |
This value controls, how unknown patches are detected. If only a certain percentage of MSL patches are present, on the surface of a traversability patch, it is rated an unknown patch.
◆ numThreads
| int traversability_generator3d::TraversabilityConfig::numThreads |
Number of OpenMP threads used by the wave-parallel map expansion (applied at the start of expandAll). 0 = do NOT parallelize: the expansion runs single-threaded on the calling thread (no OpenMP worker team). N > 0 = use exactly N threads. The map is identical for every value by design. ugv_nav4d_ros2 overwrites this with its planner numThreads parameter so one knob controls planning AND map generation.
◆ numYawSamples
| int traversability_generator3d::TraversabilityConfig::numYawSamples |
Number of yaw samples tested over the full circle [0,360deg) when computing the allowed orientations of a partially traversable cell. This is the exact collision-check count per cell, independent of the footprint offset. Higher = finer angular resolution but slower map generation. Step = 360deg / numYawSamples (e.g. 12 -> 30deg).
◆ obstacleInflationMultiplier
| double traversability_generator3d::TraversabilityConfig::obstacleInflationMultiplier |
Multiplier (0.0-1.0) for obstacle inflation radius calculation. Affects how much the obstacles are inflated around the robot footprint. Default is 0.5 (half the robot diagonal). Higher values = more conservative inflation.
◆ partiallyTraversableMultiplier
| double traversability_generator3d::TraversabilityConfig::partiallyTraversableMultiplier |
◆ robotHeight
| double traversability_generator3d::TraversabilityConfig::robotHeight |
◆ robotSizeX
| double traversability_generator3d::TraversabilityConfig::robotSizeX |
◆ robotSizeY
| double traversability_generator3d::TraversabilityConfig::robotSizeY |
◆ slopeMetric
| SlopeMetric traversability_generator3d::TraversabilityConfig::slopeMetric |
which metric to use to factor in the slope of a motion
◆ slopeMetricScale
| double traversability_generator3d::TraversabilityConfig::slopeMetricScale |
Defines how strong the slope is factored into the motion cost.
◆ traverseConcrete
| bool traversability_generator3d::TraversabilityConfig::traverseConcrete |
◆ traverseGravel
| bool traversability_generator3d::TraversabilityConfig::traverseGravel |
◆ traverseRocks
| bool traversability_generator3d::TraversabilityConfig::traverseRocks |
◆ traverseSand
| bool traversability_generator3d::TraversabilityConfig::traverseSand |
◆ useSoilInformation
| bool traversability_generator3d::TraversabilityConfig::useSoilInformation |
The documentation for this class was generated from the following file:
