nav2_constrained_smoother::SmootherParams Struct Reference

Public Member Functions
	SmootherParams ()
	A constructor for nav2_smac_planner::SmootherParams.
void	get (nav2::LifecycleNode *node, const std::string &name)
	Get params from ROS parameter. More...

Public Attributes
double	smooth_weight {0.0}
double	costmap_weight {0.0}
double	cusp_costmap_weight {0.0}
double	cusp_zone_length {0.0}
double	distance_weight {0.0}
double	curvature_weight {0.0}
double	max_curvature {0.0}
double	max_time {10.0}
int	path_downsampling_factor {1}
int	path_upsampling_factor {1}
bool	reversing_enabled {true}
bool	keep_goal_orientation {true}
bool	keep_start_orientation {true}
std::vector< double >	cost_check_points {}

Detailed Description

Definition at line 33 of file options.hpp.

Member Function Documentation

get()

void nav2_constrained_smoother::SmootherParams::get ( nav2::LifecycleNode *  node, const std::string &  name  )

inline

Get params from ROS parameter.

Parameters

node_	Ptr to node
name	Name of plugin

Definition at line 47 of file options.hpp.

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The documentation for this struct was generated from the following file:

• nav2_constrained_smoother/include/nav2_constrained_smoother/options.hpp