X-lanni
76 lines
1.8 KiB
C++
76 lines
1.8 KiB
C++
// Copyright (c) 2022 Samsung Research America, @artofnothingness Alexey Budyakov
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#pragma once
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#include <vector>
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#include <utility>
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#include <string>
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#include <rclcpp/rclcpp.hpp>
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struct TestOptimizerSettings
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{
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int batch_size;
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int time_steps;
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int iteration_count;
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double lookahead_distance;
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std::string motion_model;
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bool consider_footprint;
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};
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struct TestPose
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{
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double x;
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double y;
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};
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struct TestCostmapSettings
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{
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const unsigned int cells_x = 40;
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const unsigned int cells_y = 40;
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const double origin_x = 0.0;
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const double origin_y = 0.0;
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const double resolution = 0.1;
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const unsigned char cost_map_default_value = 0;
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const double footprint_size = 0.15;
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std::pair<unsigned int, unsigned int> getCenterIJ()
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{
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return {
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cells_x / 2,
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cells_y / 2};
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}
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TestPose getCenterPose()
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{
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return {
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static_cast<double>(cells_x) * resolution / 2.0,
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static_cast<double>(cells_y) * resolution / 2.0};
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}
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};
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struct TestObstaclesSettings
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{
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unsigned int center_cells_x;
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unsigned int center_cells_y;
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unsigned int obstacle_size;
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unsigned char obstacle_cost;
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};
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struct TestPathSettings
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{
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TestPose start_pose;
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unsigned int poses_count;
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double step_x;
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double step_y;
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};
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