sbpl_params.h

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/*
 * Copyright (c) 2010, Maxim Likhachev
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef _SBPL_PARAMS_H_
#define _SBPL_PARAMS_H_

#include <iostream>
#include <string>
#include <vector>
#include <iterator>
#include <ros/ros.h>
#include <angles/angles.h>
#include <sstream>
#include <boost/algorithm/string.hpp>

namespace sbpl_interface {

#define DEG2RAD(d) ((d)*(M_PI/180.0))
#define RAD2DEG(r) ((r)*(180.0/M_PI))
typedef std::vector<std::vector<double> > MPrim;
typedef std::vector<int> Coords;

typedef struct
{
  char type;
  int nsteps;
  int id;
  int group;
  MPrim m;
  Coords coord;
} MotionPrimitive;

class SBPLParams
{
public:

    SBPLParams();

    ~SBPLArmPlannerParams(){};

    double epsilon_;

    bool use_multires_mprims_;

    bool use_bfs_heuristic_;

    bool use_orientation_solver_;

    bool use_ik_;

    bool use_6d_pose_goal_;

    bool sum_heuristics_;

    bool use_uniform_cost_;

    bool verbose_;

    bool verbose_heuristics_;

    bool verbose_collisions_;

    int angle_delta_;

    std::vector<std::vector<double> > mprims_;

    int num_mprims_;

    int num_long_dist_mprims_;

    int num_short_dist_mprims_;

    int short_dist_mprims_thresh_c_;

    double short_dist_mprims_thresh_m_;

    std::string planner_name_;

    std::string environment_type_;  // "jointspace" or "cartesian"

    int cost_multiplier_;

    int range1_cost_;
    int range2_cost_;
    int range3_cost_;

    int cost_per_cell_;

    int cost_per_meter_;

    int is_goal_function_;

    bool two_calls_to_op_;

    bool use_research_heuristic_;

    double max_mprim_offset_;

    double sizeX_;
    double sizeY_;
    double sizeZ_;

    double resolution_;

    double originX_;
    double originY_;
    double originZ_;

    int solve_for_ik_thresh_;
    double solve_for_ik_thresh_m_;

    std::string reference_frame_;

    /* For Cartesian Arm Planner */
    std::vector<MotionPrimitive> mp_;
    double xyz_resolution_;
    double rpy_resolution_;
    double fa_resolution_;

    int cost_per_second_;
    double time_per_cell_;
    std::vector<double> joint_vel_;

    std::string group_name_;
    std::vector<std::string> planning_joints_;


    std::string expands_log_;
    std::string expands2_log_;
    std::string ik_log_;
    std::string arm_log_;
    std::string cspace_log_;
    std::string solution_log_;
    std::string expands_log_level_;
    std::string expands2_log_level_;
    std::string ik_log_level_;
    std::string arm_log_level_;
    std::string cspace_log_level_;
    std::string solution_log_level_;

    std::vector<std::string> motion_primitive_type_names_;
};

}

#endif