Planner Configuration. More...
#include <planning_utils.h>
Collaboration diagram for planning_utils::PlannerConfig:
Public Member Functions | |
| void | loadEigenVectorsFromParams () |
| void | loadParamsFromServer (ros::NodeHandle nh) |
| Load the Global Body Planner parameters from ROS server. | |
Public Attributes | |
| FastTerrainMap | terrain |
| grid_map::GridMap | terrain_grid_map |
| double | h_max |
| double | h_min |
| double | h_nom |
| double | v_max |
| double | v_nom |
| double | mass |
| double | g |
| double | grf_min |
| double | grf_max |
| double | mu |
| double | t_s_min |
| double | t_s_max |
| double | dz0_min |
| double | dz0_max |
| double | dt |
| int | trapped_buffer_factor |
| double | backup_ratio |
| int | num_leap_samples |
| double | max_planning_time |
| Eigen::Vector3d | g_vec |
| double | robot_l |
| double | robot_w |
| double | robot_h |
| double | traversability_threshold |
| bool | enable_leaping = true |
| Eigen::Matrix< double, 3, num_reachability_points > | reachability_points_body |
| Eigen::Matrix< double, 3, num_collision_points > | collision_points_body |
Static Public Attributes | |
| static const int | num_reachability_points |
| static const int | num_collision_points |
Detailed Description
Planner Configuration.
Member Function Documentation
◆ loadEigenVectorsFromParams()
|
inline |
Load the vector of reachability test points and collision test points in robot frame
Member Data Documentation
◆ num_collision_points
|
static |
Initial value:
=
5
◆ num_reachability_points
|
static |
Initial value:
=
4
The documentation for this struct was generated from the following file:
- global_body_planner/include/global_body_planner/planning_utils.h
