Hauser postprocessor parameters. More...

Public Member Functions
	Params (bool _enableShortcut=true, bool _enableBlend=true, double _shortcutTimelimit=DEFAULT_TIMELIMIT, double _blendRadius=DEFAULT_BLEND_RADIUS, int _blendIterations=DEFAULT_BLEND_ITERATIONS, double _feasibilityCheckResolution=DEFAULT_CHECK_RESOLUTION, double _feasibilityApproxTolerance=DEFAULT_TOLERANCE)

Public Attributes
bool	mEnableShortcut

bool	mEnableBlend

double	mShortcutTimelimit

double	mBlendRadius

int	mBlendIterations

double	mFeasibilityCheckResolution

double	mFeasibilityApproxTolerance

Detailed Description

Hauser postprocessor parameters.

Constructor & Destructor Documentation

aikido::planner::parabolic::ParabolicSmoother::Params::Params	(	bool	_enableShortcut = `true`,
		bool	_enableBlend = `true`,
		double	_shortcutTimelimit = `DEFAULT_TIMELIMIT`,
		double	_blendRadius = `DEFAULT_BLEND_RADIUS`,
		int	_blendIterations = `DEFAULT_BLEND_ITERATIONS`,
		double	_feasibilityCheckResolution = `DEFAULT_CHECK_RESOLUTION`,
		double	_feasibilityApproxTolerance = `DEFAULT_TOLERANCE`
	)

inline

Parameters

_enableShortcut	Whether shortcutting is used in smoothing.
_enableBlend	Whether blending is used in smoothing.
_shortcutTimelimit	Timelimit for shortcutting. It is ineffective when _enableShortcut is false.
_blendRadius	Blend radius for blending. It is ineffective when _enableBlend is false.
_blendIterations	Blend iterations for blending. It is ineffective when _enableBlend is false.
_feasibilityCheckResolution	The resolution in discretizing a segment in checking the feasibility of the segment.
_feasibilityApproxTolerance	This tolerance is used in a piecewise linear discretization that deviates no more than `_feasibilityApproxTolerance` from the parabolic ramp along any axis, and then checks for configuration and segment feasibility along that piecewise linear path.

int aikido::planner::parabolic::ParabolicSmoother::Params::mBlendIterations

double aikido::planner::parabolic::ParabolicSmoother::Params::mBlendRadius

bool aikido::planner::parabolic::ParabolicSmoother::Params::mEnableBlend

bool aikido::planner::parabolic::ParabolicSmoother::Params::mEnableShortcut

double aikido::planner::parabolic::ParabolicSmoother::Params::mFeasibilityApproxTolerance

double aikido::planner::parabolic::ParabolicSmoother::Params::mFeasibilityCheckResolution

double aikido::planner::parabolic::ParabolicSmoother::Params::mShortcutTimelimit