Detailed Description

Definition at line 85 of file PlannerRRT_common.h.

#include <mrpt/nav/planners/PlannerRRT_common.h>

Public Member Functions
	RRTAlgorithmParams ()

Public Attributes
mrpt::math::TPolygon2D	robot_shape
	The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g: More...

double	robot_shape_circular_radius {0.30}
	The radius of a circular-shape-model of the robot shape. More...

std::string	ptg_cache_files_directory
	(Default: ".") More...

double	goalBias {0.05}
	Probabily of picking the goal as random target (in [0,1], default=0.05) More...

double	maxLength {1.0}
	(Very sensitive parameter!) Max length of each edge path (in meters, default=1.0) More...

double	minDistanceBetweenNewNodes {0.10}
	Minimum distance [meters] to nearest node to accept creating a new one (default=0.10). More...

double	minAngBetweenNewNodes
	Minimum angle [rad] to nearest node to accept creating a new one (default=15 deg) (Any of minDistanceBetweenNewNodes and minAngBetweenNewNodes must be satisfied) More...

bool	ptg_verbose {true}
	Display PTG construction info (default=true) More...

size_t	save_3d_log_freq {0}
	Frequency (in iters) of saving tree state to debug log files viewable in SceneViewer3D (default=0, disabled) More...

Constructor & Destructor Documentation

◆ RRTAlgorithmParams()

RRTAlgorithmParams::RRTAlgorithmParams ( )

Definition at line 21 of file PlannerRRT_common.cpp.

References robot_shape.

Member Data Documentation

◆ goalBias

double mrpt::nav::RRTAlgorithmParams::goalBias {0.05}

Probabily of picking the goal as random target (in [0,1], default=0.05)

Definition at line 108 of file PlannerRRT_common.h.

◆ maxLength

double mrpt::nav::RRTAlgorithmParams::maxLength {1.0}

(Very sensitive parameter!) Max length of each edge path (in meters, default=1.0)

Definition at line 111 of file PlannerRRT_common.h.

◆ minAngBetweenNewNodes

double mrpt::nav::RRTAlgorithmParams::minAngBetweenNewNodes

Minimum angle [rad] to nearest node to accept creating a new one (default=15 deg) (Any of minDistanceBetweenNewNodes and minAngBetweenNewNodes must be satisfied)

Definition at line 119 of file PlannerRRT_common.h.

◆ minDistanceBetweenNewNodes

double mrpt::nav::RRTAlgorithmParams::minDistanceBetweenNewNodes {0.10}

Minimum distance [meters] to nearest node to accept creating a new one (default=0.10).

(Any of minDistanceBetweenNewNodes and minAngBetweenNewNodes must be satisfied)

Definition at line 115 of file PlannerRRT_common.h.

◆ ptg_cache_files_directory

std::string mrpt::nav::RRTAlgorithmParams::ptg_cache_files_directory

(Default: ".")

Definition at line 104 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG().

◆ ptg_verbose

bool mrpt::nav::RRTAlgorithmParams::ptg_verbose {true}

Display PTG construction info (default=true)

Definition at line 121 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG().

◆ robot_shape

mrpt::math::TPolygon2D mrpt::nav::RRTAlgorithmParams::robot_shape

The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:

robot_shape = [-0.2 0.2 0.2 -0.2; -0.1 -0.1 0.1 0.1]

Note: PTGs will use only one of either robot_shape or robot_shape_circular_radius

Definition at line 96 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), and RRTAlgorithmParams().

◆ robot_shape_circular_radius

double mrpt::nav::RRTAlgorithmParams::robot_shape_circular_radius {0.30}

The radius of a circular-shape-model of the robot shape.

Note: PTGs will use only one of either robot_shape or robot_shape_circular_radius

Definition at line 101 of file PlannerRRT_common.h.

Referenced by mrpt::nav::PlannerTPS_VirtualBase::internal_initialize_PTG(), mrpt::nav::PlannerTPS_VirtualBase::internal_loadConfig_PTG(), and mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ save_3d_log_freq

size_t mrpt::nav::RRTAlgorithmParams::save_3d_log_freq {0}

Frequency (in iters) of saving tree state to debug log files viewable in SceneViewer3D (default=0, disabled)

Definition at line 125 of file PlannerRRT_common.h.