#include <armarx/navigation/global_planning/GlobalPlanner.h>

Public Attributes
core::Positions	gridPath {}
	The raw path as it came out of the grid search, before resampling, smoothing and orientation optimization.

std::optional< core::GlobalTrajectory >	helperTrajectory
	Optional helper trajectory that can be used for visualization or debugging purposes.

bool	positionSmoothingApplied {false}
	Whether the position smoothing stage ran and its result was adopted.

std::map< std::string, float >	timings {}
	Wall-clock duration [s] of each stage of the planning pipeline, keyed by stage name.

core::GlobalTrajectory	trajectory

Detailed Description

Definition at line 42 of file GlobalPlanner.h.

Member Data Documentation

◆ gridPath

core::Positions gridPath {}

The raw path as it came out of the grid search, before resampling, smoothing and orientation optimization.

Cell centres, so it is a staircase. For visualization and debugging only; empty for planners that do not search a grid.

Definition at line 64 of file GlobalPlanner.h.

◆ helperTrajectory

std::optional<core::GlobalTrajectory> helperTrajectory

Optional helper trajectory that can be used for visualization or debugging purposes.

It is not meant to be executed by the robot. This can be helpful when using some indermediate trajectory representations for the planning that should also be visualized.

Definition at line 51 of file GlobalPlanner.h.

◆ positionSmoothingApplied

bool positionSmoothingApplied {false}

Whether the position smoothing stage ran and its result was adopted.

False when the stage was disabled, or when it produced a trajectory that still had collisions and the unsmoothed path was kept instead — which is not otherwise visible in the result.

Definition at line 71 of file GlobalPlanner.h.

◆ timings

std::map<std::string, float> timings {}

Wall-clock duration [s] of each stage of the planning pipeline, keyed by stage name.

Empty for planners that are not instrumented.

Definition at line 57 of file GlobalPlanner.h.

◆ trajectory

core::GlobalTrajectory trajectory

Definition at line 44 of file GlobalPlanner.h.

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

armarx/navigation/global_planning/GlobalPlanner.h