orca-robotics
INTRODUCTION
Overview
Download and Install
Quick Start
Documentation
Publications
REPOSITORY
Interfaces
Components
Libraries
Utilities
Software Map
DEVELOPER
Tutorials
Examples
Dev Guide
Dashboard
Wiki
login/pass: orca/orca
PEOPLE
Contributors
Users
Project
Download
Mailing lists
libOrcaPathplan
[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 orcapathplan. They can be used in a pathplanning component such as PathPlanner.
Header file:
#include <orcapathplan/orcapathplan.h>
configuration
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
