Program Listing for File constants.hpp
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// Copyright (c) 2020, Samsung Research America
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License. Reserved.
#ifndef NAV2_SMAC_PLANNER__CONSTANTS_HPP_
#define NAV2_SMAC_PLANNER__CONSTANTS_HPP_
#include <string>
namespace nav2_smac_planner
{
enum class MotionModel
{
UNKNOWN = 0,
TWOD = 1,
DUBIN = 2,
REEDS_SHEPP = 3,
STATE_LATTICE = 4,
};
inline std::string toString(const MotionModel & n)
{
switch (n) {
case MotionModel::TWOD:
return "2D";
case MotionModel::DUBIN:
return "Dubin";
case MotionModel::REEDS_SHEPP:
return "Reeds-Shepp";
case MotionModel::STATE_LATTICE:
return "State Lattice";
default:
return "Unknown";
}
}
inline MotionModel fromString(const std::string & n)
{
if (n == "2D") {
return MotionModel::TWOD;
} else if (n == "DUBIN") {
return MotionModel::DUBIN;
} else if (n == "REEDS_SHEPP") {
return MotionModel::REEDS_SHEPP;
} else if (n == "STATE_LATTICE") {
return MotionModel::STATE_LATTICE;
} else {
return MotionModel::UNKNOWN;
}
}
const float UNKNOWN = 255.0;
const float OCCUPIED = 254.0;
const float INSCRIBED = 253.0;
const float MAX_NON_OBSTACLE = 252.0;
const float FREE = 0;
} // namespace nav2_smac_planner
#endif // NAV2_SMAC_PLANNER__CONSTANTS_HPP_