MRPT  1.9.9
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mrpt::nav::RRTAlgorithmParams Struct Reference

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.

◆ ptg_verbose

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

Display PTG construction info (default=true)

Definition at line 121 of file PlannerRRT_common.h.

◆ 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 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.

◆ 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.




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