Trajectory table defintion.

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:

Public Attributes