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 
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 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 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:
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_DIMENSION_SPLITS
When the cell sizes for a projection are automatically computed, this value defines the number of par...
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 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 ...
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
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....