ClutterParameters Struct Reference

#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.

Member Data Documentation

count

int count {40}

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

maxAttempts

int maxAttempts {400}

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

maxExtent

float maxExtent {900.F}

minExtent

float minExtent {300.F}

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.

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

• armarx/navigation/applications/global_planning_evaluation/RoomScene.h