environment_parameters.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef ENVIRONMENT_PARAMETERS_H__
#define ENVIRONMENT_PARAMETERS_H__

#include <ros/ros.h>

#include <vigir_generic_params/parameter_manager.h>

#include <vigir_footstep_planning_lib/modeling/footstep.h>
#include <vigir_footstep_planning_lib/math.h>




namespace vigir_footstep_planning
{
struct EnvironmentParameters
{
  // typedefs
  typedef boost::shared_ptr<EnvironmentParameters> Ptr;
  typedef boost::shared_ptr<EnvironmentParameters> ConstPtr;

  EnvironmentParameters(const vigir_generic_params::ParameterSet& params);
  virtual ~EnvironmentParameters();

  // foot paramaters
  geometry_msgs::Vector3 foot_size;
  double foot_seperation;

  double max_risk;

  double max_step_range_width;        // maximal step distance based on step polygon
  double max_step_dist;               // maximal distance in footstep primitives

  int    hash_table_size;             // Size of the hash table storing the planning states expanded during the search. (Also referred to by max_hash_size.)
  double cell_size;                   // The size of each grid cell used to discretize the robot positions.
  int    num_angle_bins;              // The number of bins used to discretize the robot orientations.
  double angle_bin_size;
  bool   forward_search;              // Whether to use forward search (1) or backward search (0).
  int    num_random_nodes;            // number of random neighbors for R*
  double random_node_distance;

  double heuristic_scale;             // Scaling factor of heuristic, in case it underestimates by a constant factor.

  bool   ivSearchUntilFirstSolution;

  double max_planning_time;
  double initial_eps;
  double decrease_eps;

  std::string ivPlannerType;

  double feedback_rate;
  int threads;
  unsigned int jobs_per_thread;
};
}

#endif