libOrcaPathplan
[Libraries]

Library useful for path planning applications. More...

Library useful for path planning applications.

Overview

This library contains an API to common path planning functionality in a 2D world. All path planning uses an occupancy grid representation of the world.

The library consists of plain C-functions and a few a few helper classes. For all classes and functions, refer to orcapathplan. They can be used in a pathplanning component such as PathPlanner.

Header file:

#include <orcapathplan/orcapathplan.h>

Configuration parameters

Here's a list of a few configuration parameters and their meaning. For more information, refer to PathPlanner.

• traversabilityThreshhold (double)
  • Everything below this threshhold is considered traversable, everything above is an obstacle
  • Valid values: [0.0;1.0]

• robotDiameterMetres (double)
  • The robot's diameter including some safety distance
  • Unit: meters

• doPathOptimization (bool)
  • Flag which determines whether an optimized path should be computed Path optimization algorithm
  • Valid values: 0 or 1

Responsible Developer

Tobias Kaupp