8 #ifndef ORCA_ENVIRONMENTOPTIONS_H 9 #define ORCA_ENVIRONMENTOPTIONS_H 54 #endif //ORCA_ENVIRONMENTOPTIONS_H EnvironmentOptions()=default
EnvironmentOptions default constructor.
float hweight
Option that defines the weight of the heuristic function.
float delta
Option that defines max distance to goal position, which is considered as reaching the goal position...
bool breakingties
Option that defines the priority in OPEN list for nodes with equal f-values.
Class EnvironmentOptions contains environment and algoritms parameters.
File contains main constants.
bool cutcorners
Option that allows to make diagonal moves, when one adjacent cell is untraversable.
float timestep
Option that defines time per one step of simulation.
int metrictype
Heurostic type for Theta*. Can be chosen Diagonal (0), Manhattan (1), Euclidean (2), Chebyshev (3) distance.
bool allowsqueeze
Option that allows to move through "bottleneck".