sbpl_arm_planner_params.h

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/*
 * Copyright (c) 2010, Maxim Likhachev
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef __SBPL_ARM_PLANNER_PARAMS_H_
#define __SBPL_ARM_PLANNER_PARAMS_H_

#include <iostream>
#include <string>
#include <vector>
#include <iterator>
#include <ros/ros.h>
#include <angles/angles.h>
#include <sbpl/config.h>

#define DEG2RAD(d) ((d)*(M_PI/180.0))
#define RAD2DEG(r) ((r)*(180.0/M_PI))

using namespace std;

class SBPLArmPlannerParams
{

  public:

    SBPLArmPlannerParams();

    ~SBPLArmPlannerParams(){};

    void initFromParamServer();

    bool initFromParamFile(std::string param_file);
    
    bool initMotionPrimsFromFile(FILE* fCfg);

    bool initFromParamFile(FILE* fCfg);

    bool initFromResource(std::string url);

    void printParams(FILE* fOut);

    void precomputeSmoothingCosts();

    void addMotionPrim(std::vector<double> mprim, bool add_converse, bool short_dist_mprim);

    void setCellCost(int cost_per_cell);

    void printMotionPrims(FILE* fOut);

    double getSmallestShoulderPanMotion();

    double getLargestMotionPrimOffset();

    void printSmoothingCosts(FILE* fOut);

    double epsilon_;

    bool use_multires_mprims_;

    bool use_dijkstra_heuristic_;

    bool use_orientation_solver_;

    bool use_ik_;

    bool use_smoothing_;
    
    bool use_6d_pose_goal_;

    bool sum_heuristics_;

    bool use_uniform_cost_;

    bool verbose_;

    bool verbose_heuristics_;

    bool verbose_collisions_;

    int angle_delta_;

    std::vector<std::vector<double> > mprims_;

    int num_mprims_;

    int num_long_dist_mprims_;

    int num_short_dist_mprims_;

    int short_dist_mprims_thresh_c_;

    double short_dist_mprims_thresh_m_;

    std::string planner_name_;

    std::vector<std::vector<int> > smoothing_cost_;

    int cost_multiplier_;

    int range1_cost_;
    int range2_cost_;
    int range3_cost_;

    int cost_per_cell_;

    int cost_per_meter_;

    int is_goal_function_;

    bool two_calls_to_op_;

    bool use_research_heuristic_;
    
    double max_mprim_offset_;

    double sizeX_;
    double sizeY_;
    double sizeZ_;

    double resolution_;

    double originX_;
    double originY_;
    double originZ_;

    int solve_for_ik_thresh_;
    double solve_for_ik_thresh_m_;
};

#endif

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sbpl_arm_planner
Author(s): Benjamin Cohen/bcohen@seas.upenn.edu
autogenerated on Wed Feb 29 11:46:16 2012