Class Params

Defined in File Params.hpp

Nested Relationships

Nested Types

Class Documentation

class Params

Represents all the parameters that the program needs divided into modules and structures. The class pretends to be a bridge between the .yaml and the program modules and structures. In ROS2, i parametri vengono assegnati dal nodo, non dal costruttore.

Public Members

struct Params::Main main

struct Params::WayComputer wayComputer

struct Params::Visualization visualization

struct Main

Public Members

std::string input_cones_topic

std::string input_pose_topic

std::string output_full_topic

std::string output_partial_topic

std::string markers_full_topic

std::string markers_partial_topic

std::string is_ready_service_name

std::string package_path

bool shutdown_on_loop_closure

float min_cone_confidence

bool verbose

struct Visualization

Public Members

bool publish_markers

bool visualize_treeSearch

std::string triangulation_topic

std::string way_topic

std::string treeSearch_topic

struct WayComputer

Public Members

double max_triangle_edge_len

double min_triangle_angle

int failsafe_max_way_horizon_size

bool general_failsafe

double general_failsafe_safetyFactor

struct Params::WayComputer::Search search

struct Params::WayComputer::Trace trace

struct Search

Subclassed by Failsafe< Params::WayComputer::Search >

Public Members

int max_way_horizon_size

int tree_search_max_height

double overnext_midpoint_angle

double search_radius

double max_angle_diff

double min_track_width

int max_search_options

double max_next_heuristic

float heur_dist_weight

float heur_track_width_diff_weight

bool allow_intersection

double min_dist_between_midpoints

struct Trace

Public Members

double max_dist_loop_closure

double max_angle_diff_loop_closure

int vital_num_midpoints