#include <mpp/algos/TPS_Astar.h>

Public Member Functions
	TPS_Astar_Parameters ()=default

mrpt::containers::yaml	as_yaml ()

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

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

Public Attributes
double	grid_resolution_xy = 0.20

double	grid_resolution_yaw = 5.0_deg

double	SE2_metricAngleWeight = 1.0

double	heuristic_heading_weight = 0.1
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uint32_t	max_ptg_trajectories_to_explore = 20

std::vector< duration_seconds_t >	ptg_sample_timestamps = {1.0, 3.0, 5.0}

uint32_t	max_ptg_speeds_to_explore = 3

size_t	pathInterpolatedSegments = 5

size_t	saveDebugVisualizationDecimation = 0

bool	debugVisualizationShowEdgeCosts = false

duration_seconds_t	maximumComputationTime

Constructor & Destructor Documentation

◆ TPS_Astar_Parameters()

mpp::TPS_Astar_Parameters::TPS_Astar_Parameters ( )

default

Member Function Documentation

◆ as_yaml()

mrpt::containers::yaml mpp::TPS_Astar_Parameters::as_yaml ( )

◆ FromYAML()

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

static

◆ load_from_yaml()

void mpp::TPS_Astar_Parameters::load_from_yaml ( const mrpt::containers::yaml & c )

Member Data Documentation

◆ debugVisualizationShowEdgeCosts

bool mpp::TPS_Astar_Parameters::debugVisualizationShowEdgeCosts = false

◆ grid_resolution_xy

double mpp::TPS_Astar_Parameters::grid_resolution_xy = 0.20

◆ grid_resolution_yaw

double mpp::TPS_Astar_Parameters::grid_resolution_yaw = 5.0_deg

◆ heuristic_heading_weight

double mpp::TPS_Astar_Parameters::heuristic_heading_weight = 0.1

[0,1]

◆ max_ptg_speeds_to_explore

uint32_t mpp::TPS_Astar_Parameters::max_ptg_speeds_to_explore = 3

◆ max_ptg_trajectories_to_explore

uint32_t mpp::TPS_Astar_Parameters::max_ptg_trajectories_to_explore = 20

◆ maximumComputationTime

duration_seconds_t mpp::TPS_Astar_Parameters::maximumComputationTime

Initial value:

=

std::numeric_limits<duration_seconds_t>::max()

Maximum time to spend looking for a solution

◆ pathInterpolatedSegments

size_t mpp::TPS_Astar_Parameters::pathInterpolatedSegments = 5

Required to smooth interpolation of rendered paths, evaluation of path cost, etc. Even if this is 0, the interpolated path container interpolatedPath will contain the start and final pose, along with their times.

◆ ptg_sample_timestamps

std::vector<duration_seconds_t> mpp::TPS_Astar_Parameters::ptg_sample_timestamps = {1.0, 3.0, 5.0}

◆ saveDebugVisualizationDecimation

size_t mpp::TPS_Astar_Parameters::saveDebugVisualizationDecimation = 0

0:disabled

◆ SE2_metricAngleWeight

double mpp::TPS_Astar_Parameters::SE2_metricAngleWeight = 1.0

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/TPS_Astar.h

Public Member Functions

Static Public Member Functions

Public Attributes