environment_cart_planner.h File Reference

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Classes
struct	ENV_NAVXYTHETACARTLAT_CONFIG
class	EnvironmentNAVXYTHETACARTLAT
struct	EnvironmentNAVXYTHETACARTLAT_t
class	EnvironmentNAVXYTHETACARTLATTICE
	3D (x,y,theta) planning using lattice-based graph problem. For general structure see comments on parent class DiscreteSpaceInformation For info on lattice-based planning used here, you can check out the paper: Maxim Likhachev and Dave Ferguson, " Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles", IJRR'09 More...
struct	EnvNAVXYTHETACARTLAT2Dpt_t
struct	EnvNAVXYTHETACARTLAT3DCELL
struct	EnvNAVXYTHETACARTLAT3Dpt_t
struct	EnvNAVXYTHETACARTLATAction_t
struct	EnvNAVXYTHETACARTLATHashEntry_t
struct	SBPL_xythetacart_mprimitive
Defines
#define	CART_THETADIRS 5
#define	ENVNAVXYTHETACARTLAT_DEFAULTOBSTHRESH 254
#define	MAX_CART_ANGLE M_PI/4.0
#define	NAVXYTHETACARTLAT_COSTMULT_MTOMM 1000
#define	NAVXYTHETACARTLAT_DEFAULT_ACTIONWIDTH 5
#define	NAVXYTHETACARTLAT_DXYWIDTH 8
#define	NAVXYTHETACARTLAT_THETADIRS 16
#define	SBPL_XYTHETACARTLAT_MAXSTATESFORLOOKUP 100000000
Typedefs
typedef struct EnvNAVXYTHETACARTLAT3DCELL	EnvNAVXYTHETACARTLAT3Dcell_t
typedef struct ENV_NAVXYTHETACARTLAT_CONFIG	EnvNAVXYTHETACARTLATConfig_t

Define Documentation

#define CART_THETADIRS 5

Definition at line 47 of file environment_cart_planner.h.

#define ENVNAVXYTHETACARTLAT_DEFAULTOBSTHRESH 254

Definition at line 36 of file environment_cart_planner.h.

#define MAX_CART_ANGLE M_PI/4.0

Definition at line 48 of file environment_cart_planner.h.

#define NAVXYTHETACARTLAT_COSTMULT_MTOMM 1000

Definition at line 53 of file environment_cart_planner.h.

#define NAVXYTHETACARTLAT_DEFAULT_ACTIONWIDTH 5

Definition at line 51 of file environment_cart_planner.h.

#define NAVXYTHETACARTLAT_DXYWIDTH 8

Definition at line 34 of file environment_cart_planner.h.

#define NAVXYTHETACARTLAT_THETADIRS 16

Definition at line 44 of file environment_cart_planner.h.

#define SBPL_XYTHETACARTLAT_MAXSTATESFORLOOKUP 100000000

Definition at line 38 of file environment_cart_planner.h.