smoothing_config.hpp

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#ifndef SRC_PLANNING_INCLUDE_CONFIG_SMOOTHING_CONFIG_HPP_
#define SRC_PLANNING_INCLUDE_CONFIG_SMOOTHING_CONFIG_HPP_
 
struct PathSmoothingConfig {
  int spline_precision_;
 
  int spline_order_;
 
  float spline_coeffs_ratio_;
 
  float min_path_point_distance_;
 
  bool use_path_smoothing_;
 
  bool use_optimization_;
 
  double car_width_;
 
  double safety_margin_;
 
  double curvature_weight_;
 
  double safety_weight_;
 
  int max_iterations_;
 
  double tolerance_;
 
  PathSmoothingConfig()
      : spline_precision_(10),
        spline_order_(3),
        spline_coeffs_ratio_(3.0f),
        min_path_point_distance_(0.0f),
        use_path_smoothing_(true),
        use_optimization_(true),
        car_width_(1.2),
        safety_margin_(0.3),
        curvature_weight_(100.0),
        safety_weight_(100'000.0),
        max_iterations_(2000),
        tolerance_(1e-4) {}
 
  PathSmoothingConfig(int spline_precision, int spline_order, float spline_coeffs_ratio,
                      float min_path_point_distance, bool use_path_smoothing, bool use_optimization,
                      double car_width, double safety_margin, double curvature_weight,
                      double safety_weight, int max_iterations, double tolerance)
      : spline_precision_(spline_precision),
        spline_order_(spline_order),
        spline_coeffs_ratio_(spline_coeffs_ratio),
        min_path_point_distance_(min_path_point_distance),
        use_path_smoothing_(use_path_smoothing),
        use_optimization_(use_optimization),
        car_width_(car_width),
        safety_margin_(safety_margin),
        curvature_weight_(curvature_weight),
        safety_weight_(safety_weight),
        max_iterations_(max_iterations),
        tolerance_(tolerance) {}
};
 
#endif  // SRC_PLANNING_INCLUDE_CONFIG_SMOOTHING_CONFIG_HPP_