sbpl_params.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Maxim Likhachev
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
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00017  *   * Neither the name of Maxim Likhachev nor the names of its
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00019  *     from this software without specific prior written permission.
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00034 
00035 
00036 #ifndef _SBPL_PARAMS_H_
00037 #define _SBPL_PARAMS_H_
00038 
00039 #include <iostream>
00040 #include <string>
00041 #include <vector>
00042 #include <iterator>
00043 #include <ros/ros.h>
00044 #include <angles/angles.h>
00045 #include <sstream>
00046 #include <boost/algorithm/string.hpp>
00047 
00048 namespace sbpl_interface {
00049 
00050 #define DEG2RAD(d) ((d)*(M_PI/180.0))
00051 #define RAD2DEG(r) ((r)*(180.0/M_PI))
00052 typedef std::vector<std::vector<double> > MPrim;
00053 typedef std::vector<int> Coords;
00054 
00055 typedef struct
00056 {
00057   char type;
00058   int nsteps;
00059   int id;
00060   int group;
00061   MPrim m;
00062   Coords coord;
00063 } MotionPrimitive;
00064 
00065 class SBPLParams
00066 {
00067 public:
00068 
00070     SBPLParams();
00071 
00073     ~SBPLArmPlannerParams(){};
00074 
00077     double epsilon_;
00078 
00080     bool use_multires_mprims_;
00081 
00083     bool use_bfs_heuristic_;
00084 
00086     bool use_orientation_solver_;
00087 
00089     bool use_ik_;
00090 
00092     bool use_6d_pose_goal_;
00093 
00095     bool sum_heuristics_;
00096 
00099     bool use_uniform_cost_;
00100 
00102     bool verbose_;
00103 
00105     bool verbose_heuristics_;
00106 
00108     bool verbose_collisions_;
00109 
00111     int angle_delta_;
00112 
00114     std::vector<std::vector<double> > mprims_;
00115 
00117     int num_mprims_;
00118 
00120     int num_long_dist_mprims_;
00121 
00123     int num_short_dist_mprims_;
00124 
00127     int short_dist_mprims_thresh_c_;
00128 
00131     double short_dist_mprims_thresh_m_;
00132 
00133     std::string planner_name_;
00134 
00135     std::string environment_type_;  // "jointspace" or "cartesian"
00136 
00138     int cost_multiplier_;
00139 
00140     int range1_cost_;
00141     int range2_cost_;
00142     int range3_cost_;
00143 
00145     int cost_per_cell_;
00146 
00149     int cost_per_meter_;
00150 
00152     int is_goal_function_;
00153 
00155     bool two_calls_to_op_;
00156 
00158     bool use_research_heuristic_;
00159 
00160     double max_mprim_offset_;
00161 
00163     double sizeX_;
00164     double sizeY_;
00165     double sizeZ_;
00166 
00168     double resolution_;
00169 
00171     double originX_;
00172     double originY_;
00173     double originZ_;
00174 
00175     int solve_for_ik_thresh_;
00176     double solve_for_ik_thresh_m_;
00177 
00178     std::string reference_frame_;
00179 
00180     /* For Cartesian Arm Planner */
00181     std::vector<MotionPrimitive> mp_;
00182     double xyz_resolution_;
00183     double rpy_resolution_;
00184     double fa_resolution_;
00185 
00186     int cost_per_second_;
00187     double time_per_cell_;
00188     std::vector<double> joint_vel_;
00189 
00190     std::string group_name_;
00191     std::vector<std::string> planning_joints_;
00192 
00193 
00194     std::string expands_log_;
00195     std::string expands2_log_;
00196     std::string ik_log_;
00197     std::string arm_log_;
00198     std::string cspace_log_;
00199     std::string solution_log_;
00200     std::string expands_log_level_;
00201     std::string expands2_log_level_;
00202     std::string ik_log_level_;
00203     std::string arm_log_level_;
00204     std::string cspace_log_level_;
00205     std::string solution_log_level_;
00206 
00207     std::vector<std::string> motion_primitive_type_names_;
00208 };
00209 
00210 }
00211 
00212 #endif


sbpl_interface
Author(s): Gil Jones
autogenerated on Sun Jan 17 2016 12:57:03