Configuration parameters for the RRT planner. More...

#include <pro_rrt.hpp>

Public Attributes
unsigned int	max_iterations = 10000

double	configuration_space_step = 0.1
	The step size in the configuration space, in radians.

double	timeout_s = 0.0

int	seed = 0

unsigned int	seed_attempts = 1

unsigned int	optimization_iterations = 0

Detailed Description

Configuration parameters for the RRT planner.

Member Data Documentation

◆ configuration_space_step

double pro_rrt::RRTParams::configuration_space_step = 0.1

The step size in the configuration space, in radians.

◆ max_iterations

unsigned int pro_rrt::RRTParams::max_iterations = 10000

Maximum number of iterations for a single RRT-Connect run. Under multi-seed mode (seed_attempts > 1), this is the cap per attempt; total RRT-Connect work scales as seed_attempts * max_iterations. The Informed RRT* refinement budget is governed separately by optimization_iterations.

◆ optimization_iterations

unsigned int pro_rrt::RRTParams::optimization_iterations = 0

Number of Informed RRT* refinement iterations to run after RRT-Connect. The planning pipeline is: optimization_iterations == 0: RRT-Connect (maybe multiple seeds) + Shortcut. optimization_iterations > 0: RRT-Connect (maybe multiple seeds) + Informed RRT* + Shortcut. The returned path is guaranteed to be no worse (in configuration-space length) than the unrefined RRT-Connect result. Iteration count rather than wall-clock budget is used for reproducibility: same seed + same scene + same iteration count produces a bit-identical trajectory across machines.

◆ seed

int pro_rrt::RRTParams::seed = 0

The seed to use for the random number generator. The same seed will always generate the same deterministic sequence of random numbers.

◆ seed_attempts

unsigned int pro_rrt::RRTParams::seed_attempts = 1

Number of RRT-Connect runs to attempt with different seeds before picking the cheapest path. When > 1, the planner runs RRT-Connect multiple times and keeps the result with the shortest configuration-space path. The chosen result is then fed to the optional optimization step. Useful when a single RRT-Connect seed gets stuck in a sub-optimal homotopy class: running multiple seeds explores different initial routes and the optimizer can then refine the best one. Cost is roughly linear in the number of attempts; RRT-Connect itself is cheap relative to optimization, so seed_attempts=10 typically adds only a fraction of the optimization budget.

◆ timeout_s

double pro_rrt::RRTParams::timeout_s = 0.0

The timeout for the planner in seconds. If 0.0, the planner will terminate only when the maximum number of iterations is reached, or a solution is found.

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

planners/pro_rrt/include/pro_rrt/pro_rrt.hpp

Public Attributes