Struct SmootherParams

• Defined in File options.hpp

Struct Documentation

struct SmootherParams

Public Functions

inline SmootherParams()

A constructor for nav2_smac_planner::SmootherParams.

inline void get(rclcpp_lifecycle::LifecycleNode *node, const std::string &name)

Get params from ROS parameter.

Parameters:

• node_ – Ptr to node

• name – Name of plugin

Public Members

double smooth_weight = {0.0}

double costmap_weight = {0.0}

double cusp_costmap_weight = {0.0}

double cusp_zone_length = {0.0}

double distance_weight = {0.0}

double curvature_weight = {0.0}

double max_curvature = {0.0}

double max_time = {10.0}

int path_downsampling_factor = {1}

int path_upsampling_factor = {1}

bool reversing_enabled = {true}

bool keep_goal_orientation = {true}

bool keep_start_orientation = {true}

std::vector<double> cost_check_points = {}