environment_parameters.h
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00001 //=================================================================================================
00002 // Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef ENVIRONMENT_PARAMETERS_H__
00030 #define ENVIRONMENT_PARAMETERS_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_generic_params/parameter_manager.h>
00035 
00036 #include <vigir_footstep_planning_lib/modeling/footstep.h>
00037 #include <vigir_footstep_planning_lib/math.h>
00038 
00039 
00040 
00041 
00042 namespace vigir_footstep_planning
00043 {
00044 struct EnvironmentParameters
00045 {
00046   // typedefs
00047   typedef boost::shared_ptr<EnvironmentParameters> Ptr;
00048   typedef boost::shared_ptr<EnvironmentParameters> ConstPtr;
00049 
00050   EnvironmentParameters(const vigir_generic_params::ParameterSet& params);
00051   virtual ~EnvironmentParameters();
00052 
00053   // foot paramaters
00054   geometry_msgs::Vector3 foot_size;
00055   double foot_seperation;
00056 
00057   double max_risk;
00058 
00059   double max_step_range_width;        // maximal step distance based on step polygon
00060   double max_step_dist;               // maximal distance in footstep primitives
00061 
00062   int    hash_table_size;             // Size of the hash table storing the planning states expanded during the search. (Also referred to by max_hash_size.)
00063   double cell_size;                   // The size of each grid cell used to discretize the robot positions.
00064   int    num_angle_bins;              // The number of bins used to discretize the robot orientations.
00065   double angle_bin_size;
00066   bool   forward_search;              // Whether to use forward search (1) or backward search (0).
00067   int    num_random_nodes;            // number of random neighbors for R*
00068   double random_node_distance;
00069 
00070   double heuristic_scale;             // Scaling factor of heuristic, in case it underestimates by a constant factor.
00071 
00072   bool   ivSearchUntilFirstSolution;
00073 
00075   double max_planning_time;
00076   double initial_eps;
00077   double decrease_eps;
00078 
00079   std::string ivPlannerType;
00080 
00081   double feedback_rate;
00082   int threads;
00083   unsigned int jobs_per_thread;
00084 };
00085 }
00086 
00087 #endif


vigir_footstep_planner
Author(s): Alexander Stumpf
autogenerated on Thu Jun 6 2019 18:38:04