mpp::CostEvaluatorCostMap::Parameters Struct Reference

#include <mpp/algos/CostEvaluatorCostMap.h>

Public Member Functions
	Parameters ()
	~Parameters ()
mrpt::containers::yaml	as_yaml ()
void	load_from_yaml (const mrpt::containers::yaml &c)

Static Public Member Functions
static Parameters	FromYAML (const mrpt::containers::yaml &c)

Public Attributes
double	resolution = 0.05
	[m] More...
double	preferredClearanceDistance = 0.4
	[m] More...
double	maxCost = 2.0
bool	useAverageOfPath = false
double	maxRadiusFromRobot = .0

Constructor & Destructor Documentation

Parameters()

mpp::CostEvaluatorCostMap::Parameters::Parameters

(

)

~Parameters()

mpp::CostEvaluatorCostMap::Parameters::~Parameters

(

)

Member Function Documentation

as_yaml()

mrpt::containers::yaml mpp::CostEvaluatorCostMap::Parameters::as_yaml

(

)

FromYAML()

static Parameters mpp::CostEvaluatorCostMap::Parameters::FromYAML ( const mrpt::containers::yaml &  c )

static

load_from_yaml()

void mpp::CostEvaluatorCostMap::Parameters::load_from_yaml

(

const mrpt::containers::yaml &

c

)

Member Data Documentation

maxCost

double mpp::CostEvaluatorCostMap::Parameters::maxCost = 2.0

maxRadiusFromRobot

double mpp::CostEvaluatorCostMap::Parameters::maxRadiusFromRobot = .0

If !=0, defines the costmap only around a given maximum squared ROI around the current robot pose. Otherwise, the limits are given by the obstacle points.

preferredClearanceDistance

double mpp::CostEvaluatorCostMap::Parameters::preferredClearanceDistance = 0.4

[m]

resolution

double mpp::CostEvaluatorCostMap::Parameters::resolution = 0.05

[m]

useAverageOfPath

bool mpp::CostEvaluatorCostMap::Parameters::useAverageOfPath = false

If enabled, the cost of a path segment (MoveEdgeSE2_TPS) will be the average of the set of pointwise evaluations along it. Otherwise (default) the maximum cost (more conservative) will be kept instead.

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The documentation for this struct was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/algos/CostEvaluatorCostMap.h