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libHydroPathplan
[Libraries]
Library useful for path planning applications.
More...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 hydropathplan. They can be used in a pathplanning component such as hydro_component_pathplanner.
Header file:
#include <hydropathplan/hydropathplan.h>
Configuration parameters
Here's a list of a few configuration parameters and their meaning. For more information, refer to hydro_component_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 hydro_pathplanner_pathoptimization
- Valid values: 0 or 1
