params

The defined parameters to be used in different components of the software architecture.

namespace slope_constrained_planner

Typedefs

using ParamsPtr = std::shared_ptr<Params>

using ParamsConstPtr = std::shared_ptr<const Params>

struct Params

Public Members

std::string name = {"prm_star"}

std::string elevation_layer = {"elevation"}

double plan_time = {1.0}

unsigned int n_threads = {1}

double replan_freq = {0.5}

bool simplify_solution = {false}

bool snap_goal_to_map = {true}

struct slope_constrained_planner::Params::[anonymous] planner

double max_pitch_pert = {10.0 / 180 * M_PI}

double max_roll_pert = {3.33 / 180 * M_PI}

bool sample_from_distribution = {true}

bool use_inverse_vertex_density = {false}

bool use_max_prob_unknown_samples = {false}

double max_prob_unknown_samples = {0.1}

bool reach_min_phi = {false}

bool consider_theta = {false}

struct slope_constrained_planner::Params::[anonymous] sampler

double max_motion_slope = {15.0}

double max_motion_length = {2.0}

double min_motion_length = {1.0}

double max_motion_yaw_diff = {30.0}

double max_motion_slope_yaw_diff_free = {5.0}

double max_state_phi = {10.0}

double max_state_theta = {10.0}

struct slope_constrained_planner::Params::[anonymous] validator

std::string base_frame = {"base_link"}

double length = {1.05}

double width = {0.55}

double height = {0.2}

double x = {0.0}

double y = {0.0}

double z = {0.0}

struct slope_constrained_planner::Params::[anonymous]::[anonymous]::[anonymous] offset

struct slope_constrained_planner::Params::[anonymous]::[anonymous] torso

struct slope_constrained_planner::Params::[anonymous]::[anonymous]::[anonymous] offset

struct slope_constrained_planner::Params::[anonymous]::[anonymous]::[anonymous] reach

struct slope_constrained_planner::Params::[anonymous]::[anonymous] feet

struct slope_constrained_planner::Params::[anonymous] robot

bool verbose = {true}