Everything the application needs, as read from the scene description file. More...

#include <armarx/navigation/applications/global_planning_analysis/Scene.h>

Public Attributes
float	costmapMaxDistance {2000.F}
	Obstacle distances are clipped to this value [mm].

algorithms::Costmap::Parameters	costmapParams

core::GeneralConfig	generalConfig

core::Pose	goal

core::TrajectoryParametrization	parametrization {core::TrajectoryParametrization::None}
	How the velocities along the planned path are (re-)assigned before simulating.

int	parametrizationSamples {500}
	Waypoints the reparametrization should return.

float	parametrizationTorqueFraction {1.F}
	Fraction of the motor torque the reparametrization may use.

global_planning::SPFAParams	plannerParams

std::string	robot {"Armar7"}
	Platform name selecting `PlatformDynamics<robot>.json`, spelled as the rest of the codebase does: `Armar7`, `Armar6`, `ArmarDE`.

Scene	scene

bool	simulate {true}
	Simulate the low-level controller following the planned trajectory.

simulation::TrajectoryFollowingSimulation::Parameters	simulationParams

core::Pose	start

Detailed Description

Everything the application needs, as read from the scene description file.

Member Data Documentation

◆ costmapMaxDistance

float costmapMaxDistance {2000.F}

Obstacle distances are clipped to this value [mm].

◆ costmapParams

algorithms::Costmap::Parameters costmapParams

◆ generalConfig

core::GeneralConfig generalConfig

◆ goal

core::Pose goal

◆ parametrization

core::TrajectoryParametrization parametrization {core::TrajectoryParametrization::None}

How the velocities along the planned path are (re-)assigned before simulating.

Defaults to None rather than the stack's Ramping: this application exists to compare the modes, so it should apply nothing unless asked.

◆ parametrizationSamples

int parametrizationSamples {500}

Waypoints the reparametrization should return.

0 keeps the input count.

This matters more than it looks. TOPPRA bounds the accelerations along a smooth path, but a GlobalTrajectory is a polyline: the heading changes discontinuously at every vertex, and the controller executes that turn in a single control cycle. At the planner's ~195 mm spacing a 7 deg vertex at 1000 mm/s alone demands 12500 mm/s^2, which swamps everything TOPPRA achieved. Resampling so the spacing is on the order of the distance travelled per cycle spreads the turn out and the guarantee transfers.

◆ parametrizationTorqueFraction

float parametrizationTorqueFraction {1.F}

Fraction of the motor torque the reparametrization may use.

◆ plannerParams

global_planning::SPFAParams plannerParams

◆ robot

std::string robot {"Armar7"}

Platform name selecting PlatformDynamics<robot>.json, spelled as the rest of the codebase does: Armar7, Armar6, ArmarDE.

Kept so the reparametrization loads the same file the simulation did.

◆ scene

Scene scene

◆ simulate

bool simulate {true}

Simulate the low-level controller following the planned trajectory.

◆ simulationParams

simulation::TrajectoryFollowingSimulation::Parameters simulationParams

◆ start

core::Pose start

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

armarx/navigation/applications/global_planning_analysis/Scene.h

Public Attributes