constants.h

Go to the documentation of this file.

#ifndef CONSTANTS
#define CONSTANTS

//    HEADING => 0 - 359 degrees, 0 being north pointing towards positive Y
//    X-COORDINATE => designating the width of the grid
//    Y-COORDINATE => designating the height of the grid

#include <cmath>

namespace HybridAStar {
namespace Constants {
// _________________
// CONFIG FLAGS

static const bool coutDEBUG = 1;
static const bool manual = 1;
static const bool visualization = 0 * manual;
static const bool visualization2D = 0* manual;
static const bool reverse = true;
static const float dubinsShotDistance = 1*1;
static const float reedsSheppShotDistance = 1*1;
static const bool reedsShepp = true;
static const bool dubins = false;
static const bool dubinsLookup = false * dubins;
static const bool twoD = true;

// _________________
// GENERAL CONSTANTS

static const int iterations = 1000000;
static const double bloating = 0.1;
static const double width = 1.75 + 2 * bloating;
static const double length = 2.65 + 2 * bloating;
static const float r = 6;
static const int headings = 72;
static const float deltaHeadingDeg = 360 / (float)headings;
static const float deltaHeadingRad = 2 * M_PI / (float)headings;
static const float deltaHeadingNegRad = 2 * M_PI - deltaHeadingRad;
static const float cellSize = 1;
static const float tieBreaker = 0.01;

// ___________________
// HEURISTIC CONSTANTS

static const float factor2D = sqrt(5) / sqrt(2) + 1;
static const float penaltyTurning = 1.03;
static const float penaltyReversing = 2.0;
static const float penaltyCOD = 2.0;
static const float dubinsStepSize = 0.5;


// ______________________
// DUBINS LOOKUP SPECIFIC

static const int dubinsWidth = 15;
static const int dubinsArea = dubinsWidth * dubinsWidth;


// _________________________
// COLLISION LOOKUP SPECIFIC

static const int bbSize = std::ceil((sqrt(width * width + length* length) + 4) / cellSize);
static const int positionResolution = 10;
static const int positions = positionResolution * positionResolution;
struct relPos {
  int x;
  int y;
};
struct config {
  int length;
  relPos pos[64];
};

// _________________
// SMOOTHER SPECIFIC
static const float minRoadWidth = 2;

// ____________________________________________
// COLOR DEFINITIONS FOR VISUALIZATION PURPOSES
struct color {
  float red;
  float green;
  float blue;
};
static constexpr color teal = {102.f / 255.f, 217.f / 255.f, 239.f / 255.f};
static constexpr color green = {166.f / 255.f, 226.f / 255.f, 46.f / 255.f};
static constexpr color orange = {253.f / 255.f, 151.f / 255.f, 31.f / 255.f};
static constexpr color pink = {249.f / 255.f, 38.f / 255.f, 114.f / 255.f};
static constexpr color purple = {174.f / 255.f, 129.f / 255.f, 255.f / 255.f};
}
}

#endif // CONSTANTS