#include <sbpl_params.h>

Public Member Functions
	SBPLParams ()
	default constructor (just assigns default values)
	~SBPLArmPlannerParams ()
	destructor
Public Attributes
int	angle_delta_
	discretization of joint angles (default: 360)
std::string	arm_log_
std::string	arm_log_level_
int	cost_multiplier_
	cost multiplier (so we don't have to deal with doubles)
int	cost_per_cell_
	cost of moving one cell in the grid
int	cost_per_meter_
	cost of moving one meter (only used when euclidean distance is used as the heuristic instead of dijkstra)
int	cost_per_second_
std::string	cspace_log_
std::string	cspace_log_level_
std::string	environment_type_
double	epsilon_
	epsilon to be used by planner (epsilon is the bounds on the suboptimality of the solution of a weighted A* type search)
std::string	expands2_log_
std::string	expands2_log_level_
std::string	expands_log_
std::string	expands_log_level_
double	fa_resolution_
std::string	group_name_
std::string	ik_log_
std::string	ik_log_level_
int	is_goal_function_
	set which function to use to check if at goal position
std::vector< double >	joint_vel_
double	max_mprim_offset_
std::vector< std::string >	motion_primitive_type_names_
std::vector< MotionPrimitive >	mp_
std::vector< std::vector < double > >	mprims_
	the 2D array of motion primitives
int	num_long_dist_mprims_
	number of long distance motion primitives
int	num_mprims_
	total number of motion primitives
int	num_short_dist_mprims_
	number of short distance motion primitives
double	originX_
	origin of collision space
double	originY_
double	originZ_
std::string	planner_name_
std::vector< std::string >	planning_joints_
int	range1_cost_
int	range2_cost_
int	range3_cost_
std::string	reference_frame_
double	resolution_
	resolution of collision space
double	rpy_resolution_
int	short_dist_mprims_thresh_c_
	distance from goal pose in cells to switch to using short distance motion primitives + long distance motion primitives
double	short_dist_mprims_thresh_m_
	distance from goal pose in meters to switch to using short distance motion primitives + long distance motion primitives
double	sizeX_
	size of collision space
double	sizeY_
double	sizeZ_
std::string	solution_log_
std::string	solution_log_level_
int	solve_for_ik_thresh_
double	solve_for_ik_thresh_m_
bool	sum_heuristics_
	add the h_rpy & h_xyz together
double	time_per_cell_
bool	two_calls_to_op_
	call the orientation solver twice (try rotating the wrist clockwise and then counter-clockwise)
bool	use_6d_pose_goal_
	plan to a 6D pose goal (if false, plans to 3D goal {x,y,z})
bool	use_bfs_heuristic_
	use a 3D dijkstra search as the heuristic
bool	use_ik_
	use IK to try to satisfy the orientation constraint
bool	use_multires_mprims_
	enable multi-resolution motion primitives
bool	use_orientation_solver_
	use the orientation solver to try to satisfy orientation constraint
bool	use_research_heuristic_
	use the elbow heuristic
bool	use_uniform_cost_
	uniform cost when moving from one cell to another (if false, a cost will be applied based on distance from nearest obstacle)
bool	verbose_
	spew out all debugging text
bool	verbose_collisions_
	spew out all collision checking related debugging text
bool	verbose_heuristics_
	spew out all heuristic related debugging text
double	xyz_resolution_