Class Planner::Configuration

Nested Relationships

This class is a nested type of Class Planner.

Class Documentation

class Configuration

The Configuration class contains planning parameters that are immutable for each Planner instance.

These parameters generally describe the capabilities or behaviors of the AGV that is being planned for, so they shouldn’t need to change in between plans anyway.

Public Functions

Configuration(Graph graph, VehicleTraits traits, Interpolate::Options interpolation = Interpolate::Options())

Constructor

Parameters:

  • vehicle_traits – [in] The traits of the vehicle that is being planned for

  • graph – [in] The graph which is being planned over

  • interpolation – [in] The options for how the planner will perform trajectory interpolation

Configuration &graph(Graph graph)

Set the graph to use for planning.

Graph &graph()

Get a mutable reference to the graph.

const Graph &graph() const

Get a const reference to the graph.

Configuration &vehicle_traits(VehicleTraits traits)

Set the vehicle traits to use for planning.

VehicleTraits &vehicle_traits()

Get a mutable reference to the vehicle traits.

const VehicleTraits &vehicle_traits() const

Get a const reference to the vehicle traits.

Configuration &interpolation(Interpolate::Options interpolate)

Set the interpolation options for the planner.

Interpolate::Options &interpolation()

Get a mutable reference to the interpolation options.

const Interpolate::Options &interpolation() const

Get a const reference to the interpolation options.

Configuration &lane_closures(LaneClosure closures)

Set the lane closures for the graph. The planner will not attempt to expand down any lanes that are closed.

LaneClosure &lane_closures()

Get a mutable reference to the LaneClosure setting.

const LaneClosure &lane_closures() const

Get a const reference to the LaneClosure setting.

Configuration &traversal_cost_per_meter(double value)

How much the cost should increase per meter travelled. Besides this, cost is measured by the number of seconds spent travelling.

double traversal_cost_per_meter() const

Get the traversal cost.