struct mrpt::nav::RRTAlgorithmParams

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

struct RRTAlgorithmParams
{
    //
fields

    mrpt::math::TPolygon2D robot_shape;
    double robot_shape_circular_radius {0.30};
    std::string ptg_cache_files_directory;
    double goalBias {0.05};
    double maxLength {1.0};
    double minDistanceBetweenNewNodes {0.10};
    double minAngBetweenNewNodes;
    bool ptg_verbose {true};
    size_t save_3d_log_freq {0};

    // construction

    RRTAlgorithmParams();
};

Fields

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:

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

PTGs will use only one of either robot_shape or robot_shape_circular_radius

double robot_shape_circular_radius {0.30}

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

PTGs will use only one of either robot_shape or robot_shape_circular_radius

std::string ptg_cache_files_directory

(Default: “.”)

double goalBias {0.05}

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

double maxLength {1.0}

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

double 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)

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)

bool ptg_verbose {true}

Display PTG construction info (default=true)

size_t save_3d_log_freq {0}

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