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MagicConstants.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_
38#define OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_
39
40namespace ompl
41{
50 namespace magic
51 {
55 static const double PROJECTION_DIMENSION_SPLITS = 20.0;
56
60 static const unsigned int PROJECTION_EXTENTS_SAMPLES = 100;
61
66 static const double PROJECTION_EXPAND_FACTOR = 0.05;
67
74
80
85 static const double STD_DEV_AS_SPACE_EXTENT_FRACTION = 0.1;
86
90 static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS = 100;
91
96
101 static const unsigned int TEST_STATE_COUNT = 1000;
102
105 static const unsigned int NEAREST_K_RECALL_SOLUTIONS = 10;
106 }
107}
108
109#endif
This namespace includes magic constants used in various places in OMPL.
Definition Constraint.h:52
static const unsigned int FIND_VALID_STATE_ATTEMPTS_WITHOUT_TERMINATION_CHECK
Maximum number of sampling attempts to find a valid state, without checking whether the allowed time ...
static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS
When multiple attempts are needed to generate valid samples, this value defines the default number of...
static const double COST_MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION
For cost-based planners it has been observed that smaller ranges are typically suitable....
static const unsigned int PROJECTION_EXTENTS_SAMPLES
When no cell sizes are specified for a projection, they are inferred like so:
static const double STD_DEV_AS_SPACE_EXTENT_FRACTION
When standard deviation is needed for Gaussian sampling in the state space, by default the value of t...
static const double PROJECTION_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
static const unsigned int NEAREST_K_RECALL_SOLUTIONS
Default number of close solutions to choose from a path experience database (library) for further fil...
static const double PROJECTION_EXPAND_FACTOR
When a bounding box of projected states cannot be inferred, it will be estimated by sampling states....
static const double MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION
For planners: if default values are to be used for the maximum length of motions, this constant defin...
static const unsigned int TEST_STATE_COUNT
When multiple states need to be generated as part of the computation of various information (usually ...
Main namespace. Contains everything in this library.