jsk_footstep_planner: footstep_parameters.h Source File

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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PARAMETERS_H_
00038 #define JSK_FOOTSTEP_PARAMETERS_H_
00039 
00040 namespace jsk_footstep_planner
00041 {
00042   struct FootstepParameters
00043   {
00044     FootstepParameters ():
00045       use_transition_limit(false), use_global_transition_limit(false),
00046       plane_estimation_use_normal(false), skip_cropping(false),
00047       local_move_x_num(3), local_move_y_num(3), local_move_theta_num(3),
00048       plane_estimation_max_iterations(100), plane_estimation_min_inliers(100),
00049       support_check_x_sampling(3), support_check_y_sampling(3),
00050       local_move_x(0.1), local_move_y(0.05), local_move_theta(0.1),
00051       local_move_x_offset(0.1), local_move_y_offset(0.05), local_move_theta_offset(0.0),
00052       transition_limit_x(0.3), transition_limit_y(0.5), transition_limit_z(0.4),
00053       transition_limit_roll(0.3), transition_limit_pitch(0.3), transition_limit_yaw(0.3),
00054       global_transition_limit_roll(0.3), global_transition_limit_pitch(0.3),
00055       obstacle_resolution(0.1), goal_pos_thr(0.1), goal_rot_thr(0.17),
00056       plane_estimation_normal_distance_weight(0.2), plane_estimation_normal_opening_angle(0.2),
00057       plane_estimation_min_ratio_of_inliers(0.8), plane_estimation_outlier_threshold(0.02),
00058       support_check_vertex_neighbor_threshold(0.02),
00059       support_padding_x(0.0), support_padding_y(0.0)
00060     {
00061     };
00062     bool use_transition_limit;
00063     bool use_global_transition_limit;
00064     bool plane_estimation_use_normal;
00065     bool skip_cropping;
00066     int local_move_x_num;
00067     int local_move_y_num;
00068     int local_move_theta_num;
00069     int plane_estimation_max_iterations;
00070     int plane_estimation_min_inliers;
00071     int support_check_x_sampling;
00072     int support_check_y_sampling;
00073     double local_move_x;
00074     double local_move_y;
00075     double local_move_theta;
00076     double local_move_x_offset;
00077     double local_move_y_offset;
00078     double local_move_theta_offset;
00079     double transition_limit_x;
00080     double transition_limit_y;
00081     double transition_limit_z;
00082     double transition_limit_roll;
00083     double transition_limit_pitch;
00084     double transition_limit_yaw;
00085     double global_transition_limit_roll;
00086     double global_transition_limit_pitch;
00087     double obstacle_resolution;
00088     double goal_pos_thr;
00089     double goal_rot_thr;
00090     double plane_estimation_normal_distance_weight;
00091     double plane_estimation_normal_opening_angle;
00092     double plane_estimation_min_ratio_of_inliers;
00093     double plane_estimation_outlier_threshold;
00094     double support_check_vertex_neighbor_threshold;
00095     double support_padding_x;
00096     double support_padding_y;
00097     double collision_padding;
00098   };
00099 }
00100 #endif