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Version 0.10.9: added RGBD/PlanStuckIterations parameter (default 0) to detect when a node in the planned path is unreachable

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matlabbe
2015-09-23 18:15:34 -04:00
parent bb2ea8a3a3
commit 88e67f047a
7 changed files with 110 additions and 37 deletions
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1
guilib/src/PreferencesDialog.cpp
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@@ -587,6 +587,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphPlan_goalReachedRadius->setObjectName(Parameters::kRGBDGoalReachedRadius().c_str());
_ui->graphPlan_planWithNearNodesLinked->setObjectName(Parameters::kRGBDPlanVirtualLinks().c_str());
_ui->graphPlan_goalsSavedInUserData->setObjectName(Parameters::kRGBDGoalsSavedInUserData().c_str());
_ui->graphPlan_stuckIterations->setObjectName(Parameters::kRGBDPlanStuckIterations().c_str());
_ui->groupBox_localDetection_time->setObjectName(Parameters::kRGBDLocalLoopDetectionTime().c_str());
_ui->groupBox_localDetection_space->setObjectName(Parameters::kRGBDLocalLoopDetectionSpace().c_str());

34
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,9 +63,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-349</y>
<y>-1094</y>
<width>760</width>
<height>1598</height>
<height>1655</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>9</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -6986,14 +6986,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="graphPlan_planWithNearNodesLinked">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_space3_4">
<property name="text">
<string>Add virtual links. Before planning in the graph, near nodes are linked together. The maximum distance is defined by &quot;Goal reached radius&quot; above. If &quot;Maximum ID difference&quot; below is set, only close nodes in time can be linked together.</string>
@@ -7006,7 +7006,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_space3_5">
<property name="text">
<string>When a goal is received and processed with success, it is saved in user data of the location with this format: &quot;GOAL:#&quot;.</string>
@@ -7019,13 +7019,33 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="graphPlan_goalsSavedInUserData">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_space2_4">
<property name="text">
<string>Mark the current goal node on the path as unreachable if it a new goal is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="graphPlan_stuckIterations">
<property name="maximum">
<number>9999</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>