io.h

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#pragma once
 
#include <string>
 
namespace armarx::navigation::algorithms::orientation_aware::io
{
    struct AStarWithOrientationParams
    {
        float obstacleDistanceWeightFactor = 0.2;
        float obstacleDistanceContinuousWeightFactor = 0;
        float orientationWeightFactor = 0.0;
        float forwardWeightFactor = 80.0;
        float smoothnessWeightFactor = 200.0;
 
        float maxObstacleDistance = 1300; // [mm]
    };
 
    AStarWithOrientationParams
    loadAStarWithOrientationParams(
        const std::string& filePath = "algorithms/astarwithorientation.cfg");
 
} // namespace armarx::navigation::algorithms::orientation_aware::io