Struct ReachableSetParams

Struct Documentation

struct ReachableSetParams

Parameters for the reachable space algorithm.

Param n_samples:

The number of samples to use for the discretization of the joint velocity space. The higher the number of samples, the more accurate the reachable set will be, however the longer the computation time will be

Param facet_dims:

The dimension of the facet that will be sampled. Between 0 and the number of DOF of the robot. The higher the number of samples, the more accurate the reachable set will be, however the longer the computation time will be

Param convex:

Whether to make the reachable set convex or not. If set to True, the reachable set will be convex, if False the reachable set will be non-convex.

Public Members

int n_samples = 5
int facet_dims = 3