#include <armarx/navigation/applications/global_planning_evaluation/RoomScene.h>

Public Attributes
int	count {40}
	Boxes to add. R007 is 6 x 14 m, so a few dozen already makes it hard.

int	maxAttempts {400}
	Attempts per box before giving up, so a saturated room terminates.

float	maxExtent {900.F}

float	minExtent {300.F}

float	minGap {750.F}
	Gap [mm] a new box must leave to every obstacle already placed.

Detailed Description

Definition at line 84 of file RoomScene.h.

Member Data Documentation

◆ count

int count {40}

Boxes to add. R007 is 6 x 14 m, so a few dozen already makes it hard.

Definition at line 87 of file RoomScene.h.

◆ maxAttempts

int maxAttempts {400}

Attempts per box before giving up, so a saturated room terminates.

Definition at line 105 of file RoomScene.h.

◆ maxExtent

float maxExtent {900.F}

Definition at line 91 of file RoomScene.h.

◆ minExtent

float minExtent {300.F}

Definition at line 89 of file RoomScene.h.

◆ minGap

float minGap {750.F}

Gap [mm] a new box must leave to every obstacle already placed.

This is the knob that makes the scene difficult, and it is deliberately expressed as a gap rather than as a density. Set a little above the robot's diameter it produces passages the robot only just fits through, which is the regime where the smoother has to thread a path rather than merely shorten one. Set below the diameter it produces dead ends, which tests the planner rather than the smoother.

Definition at line 102 of file RoomScene.h.

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

armarx/navigation/applications/global_planning_evaluation/RoomScene.h