00001 /* 00002 * This file is part of CrsmSlam. 00003 CrsmSlam is free software: you can redistribute it and/or modify 00004 it under the terms of the GNU General Public License as published by 00005 the Free Software Foundation, either version 3 of the License, or 00006 (at your option) any later version. 00007 00008 CrsmSlam is distributed in the hope that it will be useful, 00009 but WITHOUT ANY WARRANTY; without even the implied warranty of 00010 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00011 GNU General Public License for more details. 00012 00013 You should have received a copy of the GNU General Public License 00014 along with CrsmSlam. If not, see <http://www.gnu.org/licenses/>. 00015 * 00016 * Author : Manos Tsardoulias, etsardou@gmail.com 00017 * Organization : AUTH, PANDORA Robotics Team 00018 * */ 00019 00020 #ifndef CRSM_SLAM_PARAMS_HEADER 00021 #define CRSM_SLAM_PARAMS_HEADER 00022 00023 #define pi 3.141592654 00024 #define pi_double 6.283185308 00025 00026 #include <cstring> 00027 00028 namespace crsm_slam{ 00029 00034 struct CrsmSlamParameters{ 00035 int disparity; 00036 int map_size; 00037 double ocgd; 00038 double density; 00039 double obstacle_density; 00040 double scan_selection_meters; 00041 int max_hill_climbing_iterations; 00042 double dx_laser_robotCenter; 00043 00044 double occupancy_grid_map_freq; 00045 double robot_pose_tf_freq; 00046 double trajectory_freq; 00047 00048 int desired_number_of_picked_rays; 00049 double robot_width; 00050 double robot_length; 00051 00052 std::string occupancy_grid_publish_topic; 00053 std::string robot_trajectory_publish_topic; 00054 std::string trajectory_publisher_frame_id; 00055 std::string laser_subscriber_topic; 00056 00057 std::string world_frame; 00058 std::string base_footprint_frame; 00059 std::string base_frame; 00060 std::string map_frame; 00061 std::string laser_frame; 00062 }; 00063 00064 } 00065 #endif