Doxygen/html/trajectory__tbl_8h_source.html

#ifndef ICAROUS_CFS_TRAJECTORY_TBL_H

#define ICAROUS_CFS_TRAJECTORY_TBL_H


#include <stdbool.h>

#include "trajectory_msg.h"


typedef struct

{

    double obsbuffer;

    double maxCeiling;


    // Astar parameters

    bool   astar_enable3D;

    double astar_gridSize;

    double astar_resSpeed;

    double astar_lookahead;

    char astar_daaConfigFile[50];


    // RRT parameters

    double rrt_resSpeed;

    int rrt_numIterations;

    double rrt_dt;

    int rrt_macroSteps;

    double rrt_capR;

    char rrt_daaConfigFile[50];


    // Flight plan monitoring parameters

    double xtrkDev;

    double xtrkGain;

    double resSpeed;


    // Preferred search algorithm to use

    algorithm_e searchAlgorithm;

    bool updateDaaParams;

}TrajectoryTable_t;


#endif //ICAROUS_CFS_TRAJECTORY_TBL_H

TrajectoryTable_t
Trajectory table defintion.
Definition: trajectory_tbl.h:16

TrajectoryTable_t::xtrkGain
double xtrkGain
Proportial gain used for cross track deviation maneuver computaion.
Definition: trajectory_tbl.h:37

TrajectoryTable_t::astar_lookahead
double astar_lookahead
Lookahead time in seconds (s)
Definition: trajectory_tbl.h:24

TrajectoryTable_t::maxCeiling
double maxCeiling
Max ceiling for flight [m].
Definition: trajectory_tbl.h:18

TrajectoryTable_t::obsbuffer
double obsbuffer
buffer [m] added to obstacle (obstacle sides are expanded by this much)
Definition: trajectory_tbl.h:17

TrajectoryTable_t::astar_gridSize
double astar_gridSize
A star grid size for grid search (m)
Definition: trajectory_tbl.h:22

TrajectoryTable_t::resSpeed
double resSpeed
Resolution speed when returning to flight plan.
Definition: trajectory_tbl.h:38

TrajectoryTable_t::updateDaaParams
bool updateDaaParams
Update DAA params via SB messages.
Definition: trajectory_tbl.h:42

TrajectoryTable_t::rrt_numIterations
int rrt_numIterations
Total number of RRT iterations.
Definition: trajectory_tbl.h:29

TrajectoryTable_t::rrt_macroSteps
int rrt_macroSteps
Total number of Runga Kutta integration steps in one RRT iteration.
Definition: trajectory_tbl.h:31

TrajectoryTable_t::xtrkDev
double xtrkDev
Allowed cross track deviation.
Definition: trajectory_tbl.h:36

TrajectoryTable_t::astar_enable3D
bool astar_enable3D
Enable 3D search for A star algorithm (not used in grid search)
Definition: trajectory_tbl.h:21

TrajectoryTable_t::searchAlgorithm
algorithm_e searchAlgorithm
Algorithm used for computing a new path.
Definition: trajectory_tbl.h:41

TrajectoryTable_t::rrt_resSpeed
double rrt_resSpeed
Ownship speed used for RRT search.
Definition: trajectory_tbl.h:28

TrajectoryTable_t::rrt_dt
double rrt_dt
Time step values in (s) used in one Range Kutta integration.
Definition: trajectory_tbl.h:30

TrajectoryTable_t::astar_resSpeed
double astar_resSpeed
Ownship speed used for A star search (m/s)
Definition: trajectory_tbl.h:23

TrajectoryTable_t::rrt_capR
double rrt_capR
Capture circle radius (s) for final goal.
Definition: trajectory_tbl.h:32

trajectory_msg.h
definition of messages generated by the trajectory messages

algorithm_e
algorithm_e
search algorithm type
Definition: trajectory_msg.h:15