#include <mpp/algos/NavEngine.h>

Public Member Functions
	Configuration ()=default

Public Attributes
Main configuration fields; must fill before initialize()
VehicleMotionInterface::Ptr	vehicleMotionInterface

ObstacleSource::Ptr	globalMapObstacleSource

ObstacleSource::Ptr	localSensedObstacleSource

TrajectoriesAndRobotShape	ptgs

TargetApproachController::Ptr	targetApproachController

Visualization callbacks and methods
std::function< void(void)>	on_viz_pre_modify

std::shared_ptr< mrpt::opengl::CSetOfObjects >	vizSceneToModify

std::function< void(void)>	on_viz_post_modify

Parameters
double	planner_bbox_margin = 4.0

double	enqueuedActionsToleranceXY = 0.05

double	enqueuedActionsTolerancePhi = 2.0_deg

double	enqueuedActionsTimeoutMultiplier = 1.3

double	lookAheadImmediateCollisionChecking = 1.0

double	maxDistanceForTargetApproach = 1.5

double	maxRelativeHeadingForTargetApproach = 180.0_deg

double	timeoutNotGettingCloserGoal = 30

bool	generateNavLogFiles = false

std::string	navLogFilesPrefix = "./selfdriving"

TPS_Astar_Parameters	plannerParams

CostEvaluatorCostMap::Parameters	globalCostParameters

CostEvaluatorCostMap::Parameters	localCostParameters

CostEvaluatorPreferredWaypoint::Parameters	preferWaypointsParameters

void	loadFrom (const mrpt::containers::yaml &c)

mrpt::containers::yaml	saveTo () const

Constructor & Destructor Documentation

◆ Configuration()

mpp::NavEngine::Configuration::Configuration ( )

default

Member Function Documentation

◆ loadFrom()

void mpp::NavEngine::Configuration::loadFrom ( const mrpt::containers::yaml & c )

◆ saveTo()

mrpt::containers::yaml mpp::NavEngine::Configuration::saveTo ( ) const

Member Data Documentation

◆ enqueuedActionsTimeoutMultiplier

double mpp::NavEngine::Configuration::enqueuedActionsTimeoutMultiplier = 1.3

◆ enqueuedActionsTolerancePhi

double mpp::NavEngine::Configuration::enqueuedActionsTolerancePhi = 2.0_deg

◆ enqueuedActionsToleranceXY

double mpp::NavEngine::Configuration::enqueuedActionsToleranceXY = 0.05

◆ generateNavLogFiles

bool mpp::NavEngine::Configuration::generateNavLogFiles = false

◆ globalCostParameters

CostEvaluatorCostMap::Parameters mpp::NavEngine::Configuration::globalCostParameters

◆ globalMapObstacleSource

ObstacleSource::Ptr mpp::NavEngine::Configuration::globalMapObstacleSource

Having at least one of these is mandatory

◆ localCostParameters

CostEvaluatorCostMap::Parameters mpp::NavEngine::Configuration::localCostParameters

◆ localSensedObstacleSource

ObstacleSource::Ptr mpp::NavEngine::Configuration::localSensedObstacleSource

◆ lookAheadImmediateCollisionChecking

double mpp::NavEngine::Configuration::lookAheadImmediateCollisionChecking = 1.0

◆ maxDistanceForTargetApproach

double mpp::NavEngine::Configuration::maxDistanceForTargetApproach = 1.5

◆ maxRelativeHeadingForTargetApproach

double mpp::NavEngine::Configuration::maxRelativeHeadingForTargetApproach = 180.0_deg

◆ navLogFilesPrefix

std::string mpp::NavEngine::Configuration::navLogFilesPrefix = "./selfdriving"

Actual files will be ${navLogFilesPrefix}_${UNIQUE_ID}.reactivenavlog

◆ on_viz_post_modify

std::function<void(void)> mpp::NavEngine::Configuration::on_viz_post_modify

◆ on_viz_pre_modify

std::function<void(void)> mpp::NavEngine::Configuration::on_viz_pre_modify

◆ planner_bbox_margin

double mpp::NavEngine::Configuration::planner_bbox_margin = 4.0

(Default=4.0) Hoy many meters to add at each side (up,down,left,right) of the bbox enclosing the starting and goal pose for each individual call to the A* planner.

◆ plannerParams

TPS_Astar_Parameters mpp::NavEngine::Configuration::plannerParams

◆ preferWaypointsParameters

CostEvaluatorPreferredWaypoint::Parameters mpp::NavEngine::Configuration::preferWaypointsParameters

◆ ptgs

TrajectoriesAndRobotShape mpp::NavEngine::Configuration::ptgs

◆ targetApproachController

TargetApproachController::Ptr mpp::NavEngine::Configuration::targetApproachController

◆ timeoutNotGettingCloserGoal

double mpp::NavEngine::Configuration::timeoutNotGettingCloserGoal = 30

Navigation timeout (seconds) [Default=30 sec] See description of VehicleMotionInterface::on_path_seems_blocked()

◆ vehicleMotionInterface

VehicleMotionInterface::Ptr mpp::NavEngine::Configuration::vehicleMotionInterface

◆ vizSceneToModify

std::shared_ptr<mrpt::opengl::CSetOfObjects> mpp::NavEngine::Configuration::vizSceneToModify

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/NavEngine.h

Public Member Functions

Public Attributes

Parameters