Struct SmootherParams

• Defined in File types.hpp

Struct Documentation

struct SmootherParams

Parameters for the smoother.

Public Functions

inline SmootherParams()

A constructor for nav2_smac_planner::SmootherParams.

inline void get(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node, const std::string &name)

Get params from ROS parameter.

Parameters:

• node – Ptr to node

• name – Name of plugin

Public Members

double tolerance_

int max_its_

double w_data_

double w_smooth_

bool holonomic_

bool do_refinement_