path_calculation_config.hpp

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#ifndef SRC_PLANNING_INCLUDE_CONFIG_PATH_CALCULATION_CONFIG_HPP_
#define SRC_PLANNING_INCLUDE_CONFIG_PATH_CALCULATION_CONFIG_HPP_
 
#include "config/midpoint_generator_config.hpp"
 
struct PathCalculationConfig {
  MidpointGeneratorConfig midpoint_generator_;
 
  bool use_sliding_window_;
 
  double angle_gain_;
 
  double distance_gain_;
 
  double angle_exponent_;
 
  double distance_exponent_;
 
  double max_cost_;
 
  double minimum_point_distance_;
 
  int lookback_points_;
 
  int search_depth_;
 
  int max_points_;
 
  int reset_interval_;
 
  bool use_reset_path_;
 
  double close_cost_;
 
  PathCalculationConfig()
      : midpoint_generator_(),
        use_sliding_window_(true),
        angle_gain_(20.0),
        distance_gain_(5.0),
        angle_exponent_(3.0),
        distance_exponent_(1.0),
        max_cost_(30.0),
        minimum_point_distance_(1.0),
        lookback_points_(20),
        search_depth_(2),
        max_points_(50),
        reset_interval_(10),
        use_reset_path_(false),
        close_cost_(50.0) {}
 
  PathCalculationConfig(const MidpointGeneratorConfig& mg_config, bool use_sliding_window,
                        double angle_gain, double distance_gain, double angle_exponent,
                        double distance_exponent, double max_cost, double minimum_point_distance,
                        int lookback_points, int search_depth, int max_points, int reset_interval,
                        bool use_reset_path, double close_cost)
      : midpoint_generator_(mg_config),
        use_sliding_window_(use_sliding_window),
        angle_gain_(angle_gain),
        distance_gain_(distance_gain),
        angle_exponent_(angle_exponent),
        distance_exponent_(distance_exponent),
        max_cost_(max_cost),
        minimum_point_distance_(minimum_point_distance),
        lookback_points_(lookback_points),
        search_depth_(search_depth),
        max_points_(max_points),
        reset_interval_(reset_interval),
        use_reset_path_(use_reset_path),
        close_cost_(close_cost) {}
};
 
#endif  // SRC_PLANNING_INCLUDE_CONFIG_PATH_CALCULATION_CONFIG_HPP_