32#ifndef CPPSRC_CORE_INCLUDE_COVERAGECONTROL_PARAMETERS_H_
33#define CPPSRC_CORE_INCLUDE_COVERAGECONTROL_PARAMETERS_H_
52 std::string config_file_;
62 double pPolygonRadius = 64;
93 bool pUpdateRobotMap =
true;
94 bool pUpdateExplorationMap =
true;
95 bool pUpdateSensorView =
true;
96 bool pUpdateSystemMap =
true;
114 double pMinSigma = 40;
115 double pMaxSigma = 50;
117 double pMaxPeak = 10;
119 double pUnknownImportance = 0.5;
120 bool pRobotMapUseUnknownImportance =
false;
134 int pSensorSize = 64;
137 double pMaxRobotSpeed = 5;
146 bool pAddNoisePositions =
false;
147 double pPositionsNoiseSigma = 0.;
155 int pEpisodeSteps = 2000;
156 bool pCheckOscillations =
true;
161 int pLloydMaxIterations = 100;
162 int pLloydNumTries = 10;
168 int pNumFrontiers = 10;
174 explicit Parameters(std::string
const &config_file)
175 : config_file_{config_file} {
180 void SetConfig(std::string
const &config_file) {
181 config_file_ = config_file;
185 void PrintParameters();
188 void ParseParameters();
Class to store parameters.
int pRobotMapSize
Robot map saves what the robot has seen.
double pTimeStep
Each time step corresponds to pTimeStep seconds.
int pNumPolygons
Number of polygonal features.
int pNumRobots
Number of robots.
int pNumFeatures
Number of features.
int pMaxVertices
Maximum number of vertices in a polygon.
int pRobotPosHistorySize
Number of previous positions to store.
double pCommunicationRange
Radius of communication (in meters)
double pTruncationBND
Bivariate Normal Distribution truncated after pTruncationBND * sigma.
Namespace for the CoverageControl library.