#include <PlannerConfig.hpp>
Collaboration diagram for ugv_nav4d::PlannerConfig:
Public Attributes | |
| bool | usePathStatistics = false |
| bool | searchUntilFirstSolution = false |
| double | initialEpsilon = 20.0 |
| double | epsilonSteps = 2.0 |
| unsigned | numThreads = 1 |
Detailed Description
Describes the planner config of the path planner.
Member Data Documentation
◆ epsilonSteps
| double ugv_nav4d::PlannerConfig::epsilonSteps = 2.0 |
The epsilon step size for the internal ARA* algoritm. See SBPL documentation for an explantion of this value
◆ initialEpsilon
| double ugv_nav4d::PlannerConfig::initialEpsilon = 20.0 |
The initial epsilon for the internal ARA* algorithm. See SBPL documentation for an explantion of this value
◆ numThreads
| unsigned ugv_nav4d::PlannerConfig::numThreads = 1 |
Number of threads to use during planning
◆ searchUntilFirstSolution
| bool ugv_nav4d::PlannerConfig::searchUntilFirstSolution = false |
Search only until the first solution and then stop planning See SBPL documentation for an explantion of this value
◆ usePathStatistics
| bool ugv_nav4d::PlannerConfig::usePathStatistics = false |
Should a computationally expensive obstacle check be done to check whether the robot bounding box is in collision with obstacles. This mode is useful for highly cluttered and tight spaced environments
The documentation for this struct was generated from the following file:
