ReachableSetParams Struct Reference

Parameters for the reachable space algorithm. More...

#include <pinocchio/extra/reachable-workspace.hpp>

Public Attributes
int	facet_dims = 3
int	n_samples = 5

Detailed Description

Parameters for the reachable space algorithm.

Parameters

n_samples	The number of samples to use for the discretization of the joint velocity space. The higher the number of samples, the more accurate the reachable set will be, however the longer the computation time will be
facet_dims	The dimension of the facet that will be sampled. Between 0 and the number of DOF of the robot. The higher the number of samples, the more accurate the reachable set will be, however the longer the computation time will be
convex	Whether to make the reachable set convex or not. If set to True, the reachable set will be convex, if False the reachable set will be non-convex.

Definition at line 39 of file reachable-workspace.hpp.

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

• include/pinocchio/extra/reachable-workspace.hpp