struct mrpt::nav::CHolonomicND::TOptions

Overview

Algorithm options.

#include <mrpt/nav/holonomic/CHolonomicND.h>

struct TOptions: public mrpt::config::CLoadableOptions
{
    // fields

    double TOO_CLOSE_OBSTACLE {0.15};
    double WIDE_GAP_SIZE_PERCENT {0.25};
    double RISK_EVALUATION_SECTORS_PERCENT {0.10};
    double RISK_EVALUATION_DISTANCE {0.4};
    double MAX_SECTOR_DIST_FOR_D2_PERCENT {0.25};
    double TARGET_SLOW_APPROACHING_DISTANCE {0.60};
    std::vector<double> factorWeights;

    // construction

    TOptions();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
};

Inherited Members

public:
    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

std::vector<double> factorWeights

Vector of 4 weights: [0]=Free space, [1]=Dist.

in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini”-like file or memory-stored string list.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...