io.h

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#pragma once
 
#include <string>
 
namespace armarx::navigation::algorithms::orientation_aware::smoothing::io
{
    struct SmoothingParams
    {
        double w_boundary = 10.0;
        double w_pose_smooth = 10.0;
        double w_pose_smooth_ori = 100.0;
        double w_vel_smooth = 0.0;
        double w_pose_jerk = 0.0;
        double w_robot_smooth = 0.0;
        double w_obs = 2000.0;
        double w_track = 0.05;
        double w_vel_limit = 0.0;
        double w_spacing = 1.0;
        double clearance = 50.0;
        double obsCollisionResidual = 1000.0;
        double obsMaxDistance = 500.0;
        double vmax = 1.0;
        bool use_tracking = true;
        bool use_robot_smooth = true;
        bool use_jerk = false;
        bool use_obs = true;
        int max_iterations = 15;
        int num_threads = 4;
    };
 
    SmoothingParams
    loadSmoothingParams(const std::string& filePath = "algorithms/orientation-aware-smoothing.cfg");
 
} // namespace armarx::navigation::algorithms::orientation_aware::smoothing::io