Configuration parameters for the Path Smoothing class. More...

#include <smoothing_config.hpp>

Collaboration diagram for PathSmoothingConfig:

Public Member Functions
	PathSmoothingConfig ()
	Default constructor.

	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)
	Parameterized constructor.

Public Attributes
int	spline_precision_
	Number of interpolated points between each pair of input points.

int	spline_order_
	Order of the B-spline used for smoothing.

float	spline_coeffs_ratio_
	Ratio between number of spline coefficients and input points.

float	min_path_point_distance_
	Minimum distance between consecutive path points after smoothing.

bool	use_path_smoothing_
	Flag to enable/disable spline-based path smoothing.

bool	use_optimization_
	Flag to enable/disable optimization-based refinement after spline fitting.

double	car_width_
	Vehicle width in meters.

double	safety_margin_
	Additional safety clearance in meters.

double	curvature_weight_
	Weight for curvature minimization in the optimization cost function.

double	safety_weight_
	Weight for safety distance from obstacles in the optimization cost function.

int	max_iterations_
	Maximum number of iterations for the optimization solver.

double	tolerance_
	Convergence tolerance for the optimization solver.

Detailed Description

Configuration parameters for the Path Smoothing class.

Definition at line 7 of file smoothing_config.hpp.

Constructor & Destructor Documentation

◆ PathSmoothingConfig() [1/2]

PathSmoothingConfig::PathSmoothingConfig ( )

inline

Default constructor.

Definition at line 71 of file smoothing_config.hpp.

◆ PathSmoothingConfig() [2/2]

PathSmoothingConfig::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
	)

inline

Parameterized constructor.

Definition at line 88 of file smoothing_config.hpp.

Member Data Documentation

◆ car_width_

double PathSmoothingConfig::car_width_

Vehicle width in meters.

Definition at line 41 of file smoothing_config.hpp.

◆ curvature_weight_

double PathSmoothingConfig::curvature_weight_

Weight for curvature minimization in the optimization cost function.

Definition at line 51 of file smoothing_config.hpp.

◆ max_iterations_

int PathSmoothingConfig::max_iterations_

Maximum number of iterations for the optimization solver.

Definition at line 61 of file smoothing_config.hpp.

◆ min_path_point_distance_

float PathSmoothingConfig::min_path_point_distance_

Minimum distance between consecutive path points after smoothing.

Definition at line 26 of file smoothing_config.hpp.

◆ safety_margin_

double PathSmoothingConfig::safety_margin_

Additional safety clearance in meters.

Definition at line 46 of file smoothing_config.hpp.

◆ safety_weight_

double PathSmoothingConfig::safety_weight_

Weight for safety distance from obstacles in the optimization cost function.

Definition at line 56 of file smoothing_config.hpp.

◆ spline_coeffs_ratio_

float PathSmoothingConfig::spline_coeffs_ratio_

Ratio between number of spline coefficients and input points.

Definition at line 21 of file smoothing_config.hpp.

◆ spline_order_

int PathSmoothingConfig::spline_order_

Order of the B-spline used for smoothing.

Definition at line 16 of file smoothing_config.hpp.

◆ spline_precision_

int PathSmoothingConfig::spline_precision_

Number of interpolated points between each pair of input points.

Definition at line 11 of file smoothing_config.hpp.

◆ tolerance_

double PathSmoothingConfig::tolerance_

Convergence tolerance for the optimization solver.

Definition at line 66 of file smoothing_config.hpp.

◆ use_optimization_

bool PathSmoothingConfig::use_optimization_

Flag to enable/disable optimization-based refinement after spline fitting.

Definition at line 36 of file smoothing_config.hpp.

◆ use_path_smoothing_

bool PathSmoothingConfig::use_path_smoothing_

Flag to enable/disable spline-based path smoothing.

Definition at line 31 of file smoothing_config.hpp.

The documentation for this struct was generated from the following file:

src/planning/include/config/smoothing_config.hpp

Public Member Functions

Public Attributes