mrpt::nav::RRTEndCriteria Struct Reference

Detailed Description

Definition at line 65 of file PlannerRRT_common.h.

#include <mrpt/nav/planners/PlannerRRT_common.h>

Public Member Functions
	RRTEndCriteria ()=default

Public Attributes
double	acceptedDistToTarget {0.1}
	Maximum distance from a pose to target to accept it as a valid solution (meters). More...
double	acceptedAngToTarget {mrpt::DEG2RAD(180.0)}
	Maximum angle from a pose to target to accept it as a valid solution (rad). More...
double	maxComputationTime {0.0}
	In seconds. More...
double	minComputationTime {0.0}
	In seconds. More...

Constructor & Destructor Documentation

RRTEndCriteria()

mrpt::nav::RRTEndCriteria::RRTEndCriteria ( )

default

Member Data Documentation

acceptedAngToTarget

double mrpt::nav::RRTEndCriteria::acceptedAngToTarget {mrpt::DEG2RAD(180.0)}

Maximum angle from a pose to target to accept it as a valid solution (rad).

(Both acceptedDistToTarget & acceptedAngToTarget must be satisfied)

Definition at line 74 of file PlannerRRT_common.h.

acceptedDistToTarget

double mrpt::nav::RRTEndCriteria::acceptedDistToTarget {0.1}

Maximum distance from a pose to target to accept it as a valid solution (meters).

(Both acceptedDistToTarget & acceptedAngToTarget must be satisfied)

Definition at line 70 of file PlannerRRT_common.h.

maxComputationTime

double mrpt::nav::RRTEndCriteria::maxComputationTime {0.0}

In seconds.

0 means no limit until a solution is found.

Definition at line 77 of file PlannerRRT_common.h.

minComputationTime

double mrpt::nav::RRTEndCriteria::minComputationTime {0.0}

In seconds.

0 means the first valid path will be returned. Otherwise, the algorithm will try to refine and find a better one.

Definition at line 80 of file PlannerRRT_common.h.