MagicConstants.h

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/* Author: Ioan Sucan */

#ifndef OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_
#define OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_

namespace ompl
{
    namespace magic
    {
        static const double PROJECTION_DIMENSION_SPLITS = 20.0;

        static const unsigned int PROJECTION_EXTENTS_SAMPLES = 100;

        static const double PROJECTION_EXPAND_FACTOR = 0.05;

        static const double MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION = 0.2;

        static const double COST_MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION = 0.175;

        static const double STD_DEV_AS_SPACE_EXTENT_FRACTION = 0.1;

        static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS = 100;

        static const unsigned int FIND_VALID_STATE_ATTEMPTS_WITHOUT_TERMINATION_CHECK = 2;

        static const unsigned int TEST_STATE_COUNT = 1000;

        static const unsigned int NEAREST_K_RECALL_SOLUTIONS = 10;
    }
}

#endif