SPFAParams Struct Reference

Parameters for AStar. More...

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

Inheritance diagram for SPFAParams:

Public Member Functions
Algorithms	algorithm () const override
aron::data::DictPtr	toAron () const override
Public Member Functions inherited from GlobalPlannerParams
virtual	~GlobalPlannerParams ()=default

Static Public Member Functions
static SPFAParams	FromAron (const aron::data::DictPtr &dict)

Public Attributes
algorithms::spfa::ShortestPathFasterAlgorithm::Parameters	algo
bool	enableFinalVelocityClamp {true}
	Re-apply the obstacle-aware velocity limit after orientation optimization.
bool	enablePositionSmoothing {true}
	Diagnostic switches for the post-processing stages.
optimization::OrientationOptimizerParams	optimizerParams
float	resampleDistance {-1}
	Spacing [mm] the planned path is resampled to before smoothing.
Public Attributes inherited from GlobalPlannerParams
bool	foo

Static Public Attributes
static constexpr float	defaultResampleDistance {200.F}
	Used when resampleDistance is negative.

Detailed Description

Parameters for AStar.

Definition at line 48 of file SPFA.h.

Member Function Documentation

algorithm()

Algorithms algorithm ( ) const

overridevirtual

Implements GlobalPlannerParams.

Definition at line 145 of file SPFA.cpp.

FromAron()

SPFAParams FromAron ( const aron::data::DictPtr & dict )

static

Definition at line 161 of file SPFA.cpp.

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toAron()

aron::data::DictPtr toAron ( ) const

overridevirtual

Implements GlobalPlannerParams.

Definition at line 151 of file SPFA.cpp.

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Member Data Documentation

algo

algorithms::spfa::ShortestPathFasterAlgorithm::Parameters algo

Definition at line 67 of file SPFA.h.

defaultResampleDistance

float defaultResampleDistance {200.F}

staticconstexpr

Used when resampleDistance is negative.

Definition at line 65 of file SPFA.h.

enableFinalVelocityClamp

bool enableFinalVelocityClamp {true}

Re-apply the obstacle-aware velocity limit after orientation optimization.

Disabling this exposes the velocities as the earlier stages left them, which is the only way to observe whether a stage produced a trajectory that violates the limit.

Definition at line 85 of file SPFA.h.

enablePositionSmoothing

bool enablePositionSmoothing {true}

Diagnostic switches for the post-processing stages.

They are deliberately not part of the Aron (de-)serialization: they exist to bisect the pipeline from tools such as the global_planning_analysis application, not to be configured on the robot. Run the SPFA position smoothing on the resampled path.

Definition at line 77 of file SPFA.h.

optimizerParams

optimization::OrientationOptimizerParams optimizerParams

Definition at line 69 of file SPFA.h.

resampleDistance

float resampleDistance {-1}

Spacing [mm] the planned path is resampled to before smoothing.

Negative keeps the default below.

This is not only a density knob. The path is a polyline, so the straight chord between two waypoints sags away from the route they were sampled from – about 20 mm at 200 mm spacing around a 45 degree corner. Where the corridor is only a little wider than the clearance the checker enforces, that sag is the difference between a path that passes and one that clips the corner, and no amount of optimizing can remove it: it is a property of the spacing, not of the waypoint positions.

Definition at line 62 of file SPFA.h.

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

• armarx/navigation/global_planning/SPFA.h
• armarx/navigation/global_planning/SPFA.cpp