#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}

Public Attributes inherited from GlobalPlannerParams
bool	foo

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 143 of file SPFA.cpp.

◆ FromAron()

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

static

Definition at line 159 of file SPFA.cpp.

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◆ toAron()

aron::data::DictPtr toAron ( ) const

overridevirtual

Implements GlobalPlannerParams.

Definition at line 149 of file SPFA.cpp.

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Member Data Documentation

◆ algo

algorithms::spfa::ShortestPathFasterAlgorithm::Parameters algo

Definition at line 53 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 71 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 63 of file SPFA.h.

◆ optimizerParams

optimization::OrientationOptimizerParams optimizerParams

Definition at line 55 of file SPFA.h.

◆ resampleDistance

float resampleDistance {-1}

Definition at line 51 of file SPFA.h.

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

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

Public Member Functions

Static Public Member Functions

Public Attributes