Struct SearchInfo

• Defined in File types.hpp

Struct Documentation

struct SearchInfo

Search properties and penalties.

Public Members

float minimum_turning_radius = {8.0}

float non_straight_penalty = {1.05}

float change_penalty = {0.0}

float reverse_penalty = {2.0}

float cost_penalty = {2.0}

float retrospective_penalty = {0.015}

float rotation_penalty = {5.0}

float analytic_expansion_ratio = {3.5}

float analytic_expansion_max_length = {60.0}

float analytic_expansion_max_cost = {200.0}

bool analytic_expansion_max_cost_override = {false}

std::string lattice_filepath

bool cache_obstacle_heuristic = {false}

bool allow_reverse_expansion = {false}

bool allow_primitive_interpolation = {false}

bool downsample_obstacle_heuristic = {true}

bool use_quadratic_cost_penalty = {false}