SamplingParameters Struct Reference

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

Public Attributes
int	maxAttempts {2000}
	Attempts per request before giving up on a category.
float	minSeparation {1500.F}
	Minimum straight-line start-to-goal distance [mm].
float	nearObstacleMaxClearance {380.F}
	Upper bound of that band, and lower bound of the Uniform category.
float	nearObstacleMinClearance {80.F}
	Clearance band [mm] a cell must fall in to count as "near an obstacle".

Member Data Documentation

maxAttempts

int maxAttempts {2000}

Attempts per request before giving up on a category.

minSeparation

float minSeparation {1500.F}

Minimum straight-line start-to-goal distance [mm].

Without it most samples are trivially short and say nothing about the smoother.

nearObstacleMaxClearance

float nearObstacleMaxClearance {380.F}

Upper bound of that band, and lower bound of the Uniform category.

nearObstacleMinClearance

float nearObstacleMinClearance {80.F}

Clearance band [mm] a cell must fall in to count as "near an obstacle".

Keep the lower bound above the clearance the trajectory checker enforces, not merely above zero: the checker tests every waypoint including the start and the goal, so an endpoint below it makes the request fail however the middle is smoothed, and the category then measures its own sampling 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/Sampling.h