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TrajectoryTable_t Struct Reference

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.
 

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