PlannerConfig.hpp

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#pragma once
 
namespace ugv_nav4d{
struct PlannerConfig
{
    bool usePathStatistics = false;
    bool searchUntilFirstSolution = false;
    double initialEpsilon = 20.0;
    double epsilonSteps = 2.0;
    unsigned numThreads = 1;
    double corridorWidth = -1.0;
    double maxTime = 5.0;
    double goalOrientationMargin = 0.0;
    double goalDistanceMargin = 0.0;
    bool useReedsSheppFinalPath = false;
    double reedsSheppStepSize = 0.0;
    int reedsSheppMaxShortcut = 0;
    bool useReedsSheppGoalShot = false;
    double reedsSheppGoalShotMaxDistance = 15.0;
    int reedsSheppMaxCusps = 1;
};
}