Definition at line 92 of file PlannerRRT_SE2_TPS.h.
#include <mrpt/nav/planners/PlannerRRT_SE2_TPS.h>
Public Member Functions | |
TAlgorithmParams () | |
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: | |
std::string | ptg_cache_files_directory |
(Default: ".") | |
double | goalBias |
Probabily of picking the goal as random target (in [0,1], default=0.05) | |
double | maxLength |
(Very sensitive parameter!) Max length of each edge path (in meters, default=1.0) | |
double | minDistanceBetweenNewNodes |
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 |
Display PTG construction info (default=true) | |
size_t | save_3d_log_freq |
Frequency (in iters) of saving tree state to debug log files viewable in SceneViewer3D (default=0, disabled) | |
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inline |
Definition at line 111 of file PlannerRRT_SE2_TPS.h.
double mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::goalBias |
Probabily of picking the goal as random target (in [0,1], default=0.05)
Definition at line 103 of file PlannerRRT_SE2_TPS.h.
double mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::maxLength |
(Very sensitive parameter!) Max length of each edge path (in meters, default=1.0)
Definition at line 104 of file PlannerRRT_SE2_TPS.h.
double mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::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 106 of file PlannerRRT_SE2_TPS.h.
double mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::minDistanceBetweenNewNodes |
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 105 of file PlannerRRT_SE2_TPS.h.
std::string mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::ptg_cache_files_directory |
(Default: ".")
Definition at line 101 of file PlannerRRT_SE2_TPS.h.
bool mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::ptg_verbose |
Display PTG construction info (default=true)
Definition at line 107 of file PlannerRRT_SE2_TPS.h.
mrpt::math::TPolygon2D mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::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:
Definition at line 100 of file PlannerRRT_SE2_TPS.h.
size_t mrpt::nav::PlannerRRT_SE2_TPS::TAlgorithmParams::save_3d_log_freq |
Frequency (in iters) of saving tree state to debug log files viewable in SceneViewer3D (default=0, disabled)
Definition at line 109 of file PlannerRRT_SE2_TPS.h.
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