MagicConstants.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_
38 #define OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_
39 
40 namespace 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 
73  static const double MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION = 0.2;
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
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 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 unsigned int PROJECTION_EXTENTS_SAMPLES
When no cell sizes are specified for a projection, they are inferred like so:
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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 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 NEAREST_K_RECALL_SOLUTIONS
Default number of close solutions to choose from a path experience database (library) for further fil...
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. The same range computation strategy is used for all planners, but for cost planners an additional factor (smaller than 1) is multiplied in.
static const unsigned int TEST_STATE_COUNT
When multiple states need to be generated as part of the computation of various information (usually ...
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 MAX_VALID_SAMPLE_ATTEMPTS
When multiple attempts are needed to generate valid samples, this value defines the default number of...