struct mrpt::nav::RRTAlgorithmParams¶
#include <mrpt/nav/planners/PlannerRRT_common.h> struct RRTAlgorithmParams { // fields mrpt::math::TPolygon2D robot_shape; double robot_shape_circular_radius {0.30}; std::string ptg_cache_files_directory; double goalBias {0.05}; double maxLength {1.0}; double minDistanceBetweenNewNodes {0.10}; double minAngBetweenNewNodes; bool ptg_verbose {true}; size_t save_3d_log_freq {0}; };
Fields¶
mrpt::math::TPolygon2D robot_shape
The robot shape used when computing collisions; it’s loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:
robot_shape = [-0.2 0.2 0.2 -0.2; -0.1 -0.1 0.1 0.1]
PTGs will use only one of either robot_shape
or robot_shape_circular_radius
double robot_shape_circular_radius {0.30}
The radius of a circular-shape-model of the robot shape.
PTGs will use only one of either robot_shape
or robot_shape_circular_radius
std::string ptg_cache_files_directory
(Default: “.”)
double goalBias {0.05}
Probabily of picking the goal as random target (in [0,1], default=0.05)
double maxLength {1.0}
(Very sensitive parameter!) Max length of each edge path (in meters, default=1.0)
double minDistanceBetweenNewNodes {0.10}
Minimum distance [meters] to nearest node to accept creating a new one (default=0.10).
(Any of minDistanceBetweenNewNodes and minAngBetweenNewNodes must be satisfied)
double minAngBetweenNewNodes
Minimum angle [rad] to nearest node to accept creating a new one (default=15 deg) (Any of minDistanceBetweenNewNodes and minAngBetweenNewNodes must be satisfied)
bool ptg_verbose {true}
Display PTG construction info (default=true)
size_t save_3d_log_freq {0}
Frequency (in iters) of saving tree state to debug log files viewable in SceneViewer3D (default=0, disabled)