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.

Definition at line 62 of file Scene.h.

Member Data Documentation

◆ costmapMaxDistance

float costmapMaxDistance {2000.F}

Obstacle distances are clipped to this value [mm].

Definition at line 73 of file Scene.h.

◆ costmapParams

algorithms::Costmap::Parameters costmapParams

Definition at line 70 of file Scene.h.

◆ generalConfig

core::GeneralConfig generalConfig

Definition at line 77 of file Scene.h.

◆ goal

core::Pose goal

Definition at line 68 of file Scene.h.

◆ 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.

Definition at line 93 of file Scene.h.

◆ 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.

Definition at line 103 of file Scene.h.

◆ parametrizationTorqueFraction

float parametrizationTorqueFraction {1.F}

Fraction of the motor torque the reparametrization may use.

Definition at line 106 of file Scene.h.

◆ plannerParams

global_planning::SPFAParams plannerParams

Definition at line 75 of file Scene.h.

◆ 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.

Definition at line 87 of file Scene.h.

◆ scene

Scene scene

Definition at line 64 of file Scene.h.

◆ simulate

bool simulate {true}

Simulate the low-level controller following the planned trajectory.

Definition at line 80 of file Scene.h.

◆ simulationParams

simulation::TrajectoryFollowingSimulation::Parameters simulationParams

Definition at line 82 of file Scene.h.

◆ start

core::Pose start

Definition at line 66 of file Scene.h.

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

armarx/navigation/applications/global_planning_analysis/Scene.h

Public Attributes