ICAROUS
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Trajectory table defintion.
#include <trajectory_tbl.h>
Public Attributes | |
double | obsbuffer |
buffer [m] added to obstacle (obstacle sides are expanded by this much) | |
double | maxCeiling |
Max ceiling for flight [m]. | |
bool | astar_enable3D |
Enable 3D search for A star algorithm (not used in grid search) | |
double | astar_gridSize |
A star grid size for grid search (m) | |
double | astar_resSpeed |
Ownship speed used for A star search (m/s) | |
double | astar_lookahead |
Lookahead time in seconds (s) | |
char | astar_daaConfigFile [50] |
DAA configuration file for A star serach. | |
double | rrt_resSpeed |
Ownship speed used for RRT search. | |
int | rrt_numIterations |
Total number of RRT iterations. | |
double | rrt_dt |
Time step values in (s) used in one Range Kutta integration. | |
int | rrt_macroSteps |
Total number of Runga Kutta integration steps in one RRT iteration. | |
double | rrt_capR |
Capture circle radius (s) for final goal. | |
char | rrt_daaConfigFile [50] |
Input DAA configuration file for RRT search. | |
double | xtrkDev |
Allowed cross track deviation. | |
double | xtrkGain |
Proportial gain used for cross track deviation maneuver computaion. | |
double | resSpeed |
Resolution speed when returning to flight plan. | |
algorithm_e | searchAlgorithm |
Algorithm used for computing a new path. | |
bool | updateDaaParams |
Update DAA params via SB messages. | |