ompl/tools/config/MagicConstants.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_
00038 #define OMPL_TOOLS_CONFIG_MAGIC_CONSTANTS_
00039 
00040 namespace ompl
00041 {
00042 
00051     namespace magic
00052     {
00053 
00057         static const double PROJECTION_DIMENSION_SPLITS = 20.0;
00058 
00059 
00063         static const unsigned int PROJECTION_EXTENTS_SAMPLES = 100;
00064 
00069         static const double PROJECTION_EXPAND_FACTOR = 0.05;
00070 
00076         static const double MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION = 0.2;
00077 
00082         static const double COST_MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION = 0.175;
00083 
00088         static const double STD_DEV_AS_SPACE_EXTENT_FRACTION = 0.1;
00089 
00093         static const double BETTER_PATH_COST_MARGIN = std::numeric_limits<double>::epsilon() * 1e3;
00094 
00098         static const unsigned int MAX_VALID_SAMPLE_ATTEMPTS = 100;
00099 
00103         static const unsigned int FIND_VALID_STATE_ATTEMPTS_WITHOUT_TERMINATION_CHECK = 2;
00104 
00109         static const unsigned int TEST_STATE_COUNT = 1000;
00110 
00111     }
00112 }
00113 
00114 #endif
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