struct mrpt::nav::CHolonomicVFF::TOptions

Overview

Algorithm options.

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

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

    double TARGET_SLOW_APPROACHING_DISTANCE {0.10};
    double TARGET_ATTRACTIVE_FORCE {20.0};

    // 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

double TARGET_SLOW_APPROACHING_DISTANCE {0.10}

For stopping gradually (Default: 0.10)

double TARGET_ATTRACTIVE_FORCE {20.0}

Dimension-less (may have to be tuned depending on the density of obstacle sampling) (Default: 20)

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,...