Navigation constants. More...

Variables
const double	RADIAN_COST = EFF_WHEEL_BASE / 2.0
	Distance (m) we could have traveled forward in the time it takes to turn 1 radian.

const double	SAFE_RADIUS = ROBOT_LENGTH * 1.3
	Planner stays this far away from obstacles (m)

const int	MAX_ITERS = 3000
	Max number of nodes expanded during A* search.

const double	PLAN_RESOLUTION = ROBOT_LENGTH
	In meters.

const double	SEARCH_RADIUS_INCREMENT = ROBOT_LENGTH * 3

const double	GPS_WAYPOINT_RADIUS = ROBOT_LENGTH * 1.5

const double	LANDMARK_WAYPOINT_RADIUS = ROBOT_LENGTH * 1.3

const double	EPS = 2.0
	Heuristic weight for weighted A*.

const double	THETA_KP = 2.0

const double	DRIVE_VEL = 1.5

const double	SLOW_DRIVE_THRESHOLD = 8.0

const double	DONE_THRESHOLD = 3.0

const util::dseconds	CLOSE_TO_TARGET_DUR_VAL = std::chrono::milliseconds(750)
	Duration long enough to confirm we are there, not so long that time is wasted.

Detailed Description

Navigation constants.

Variables