#include <armarx/navigation/algorithms/CostmapBuilder.h>

Public Attributes
DistanceCalculator	calculationMethod = DistanceCalculator::Simox

Eigen::Vector3f	collisionModelScaleFactor = Eigen::Vector3f::Ones()

bool	fakeModeForTesting = false

float	maxDistance = 2000.F
	All poses that are further away to obstacles are set to this value.

float	maxFilterDistance = 1000.F

int	numThreads = 0

bool	restrictToRooms = false

float	robotFootprintRadius = -1.F

std::vector< std::string >	roomEnableList

Member Data Documentation

◆ calculationMethod

DistanceCalculator calculationMethod = DistanceCalculator::Simox

◆ collisionModelScaleFactor

Eigen::Vector3f collisionModelScaleFactor = Eigen::Vector3f::Ones()

◆ fakeModeForTesting

bool fakeModeForTesting = false

◆ maxDistance

float maxDistance = 2000.F

All poses that are further away to obstacles are set to this value.

◆ maxFilterDistance

float maxFilterDistance = 1000.F

The maximum distance from the costmap to an obstacle to be included for costmap calculation. Every obstacles further away will be discarded.

◆ numThreads

int numThreads = 0

◆ restrictToRooms

bool restrictToRooms = false

◆ robotFootprintRadius

float robotFootprintRadius = -1.F

Robot footprint radius in mm. Only applicable when restrictToRooms is true. When >= 0, cells closer than this distance to a room boundary are excluded. -1 disables the footprint restriction.

◆ roomEnableList

std::vector<std::string> roomEnableList

Only applicable when restrictToRooms is true. The list of rooms for which the costmap should be generated, leave empty to include all rooms.

The documentation for this struct was generated from the following file:

armarx/navigation/algorithms/CostmapBuilder.h

Public Attributes