Autonomy Software C++ 24.5.1
Welcome to the Autonomy Software repository of the Mars Rover Design Team (MRDT) at Missouri University of Science and Technology (Missouri S&T)! API reference contains the source code and other resources for the development of the autonomy software for our Mars rover. The Autonomy Software project aims to compete in the University Rover Challenge (URC) by demonstrating advanced autonomous capabilities and robust navigation algorithms.
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Namespaces | Variables
AutonomyConstants.cpp File Reference

Defines constants for the autonomy software. More...

#include "./AutonomyConstants.h"
Include dependency graph for AutonomyConstants.cpp:

Namespaces

namespace  constants
 Namespace containing all constants for autonomy software. Including AutonomyGlobals.h will also include this namespace.
 

Variables

const bool constants::MODE_SIM = false
 
const std::string constants::SIM_IP_ADDRESS = "127.0.0.1"
 
const uint constants::SIM_WEBSOCKET_PORT = 8080
 
const uint constants::SIM_WEBRTC_QP = 25
 
const double constants::BATTERY_MINIMUM_CELL_VOLTAGE = 3.2
 
const bool constants::BATTERY_CHECKS_ENABLED = false
 
const std::string constants::LOGGING_OUTPUT_PATH_ABSOLUTE = "../logs/"
 
const quill::LogLevel constants::CONSOLE_MIN_LEVEL = quill::LogLevel::TraceL3
 
const quill::LogLevel constants::FILE_MIN_LEVEL = quill::LogLevel::TraceL3
 
const quill::LogLevel constants::ROVECOMM_MIN_LEVEL = quill::LogLevel::Info
 
const quill::LogLevel constants::CONSOLE_DEFAULT_LEVEL = quill::LogLevel::Info
 
const quill::LogLevel constants::FILE_DEFAULT_LEVEL = quill::LogLevel::TraceL3
 
const quill::LogLevel constants::ROVECOMM_DEFAULT_LEVEL = quill::LogLevel::Info
 
const std::string constants::szTraceL3Color = "\033[30m"
 
const std::string constants::szTraceL2Color = "\033[30m"
 
const std::string constants::szTraceL1Color = "\033[30m"
 
const std::string constants::szDebugColor = "\033[36m"
 
const std::string constants::szInfoColor = "\033[32m"
 
const std::string constants::szNoticeColor = "\033[97m\033[1m"
 
const std::string constants::szWarningColor = "\033[93m\033[1m"
 
const std::string constants::szErrorColor = "\033[91m\033[1m"
 
const std::string constants::szCriticalColor = "\033[95m\033[1m"
 
const std::string constants::szBacktraceColor = "\033[30m"
 
const int constants::ROVECOMM_OUTGOING_UDP_PORT = MODE_SIM ? 11001 : 11000
 
const int constants::ROVECOMM_OUTGOING_TCP_PORT = MODE_SIM ? 12001 : 12000
 
const std::string constants::ROVECOMM_TCP_INTERFACE_IP = "127.0.0.1"
 
const float constants::DRIVE_MAX_POWER = 1.0
 
const float constants::DRIVE_MIN_POWER = -1.0
 
const float constants::DRIVE_MAX_EFFORT = 0.5
 
const float constants::DRIVE_MIN_EFFORT = -0.5
 
const double constants::DRIVE_PID_PROPORTIONAL = 0.008
 
const double constants::DRIVE_PID_INTEGRAL = 0.001
 
const double constants::DRIVE_PID_DERIVATIVE = 0.004
 
const double constants::DRIVE_PID_FEEDFORWARD = 0.0
 
const double constants::DRIVE_PID_MAX_ERROR = 180.0
 
const double constants::DRIVE_PID_MAX_INTEGRAL_TERM = 0.2
 
const double constants::DRIVE_PID_MAX_RAMP_RATE = 0.08
 
const double constants::DRIVE_PID_OUTPUT_FILTER = 0.1
 
const double constants::DRIVE_PID_TOLERANCE = 1.0
 
const bool constants::DRIVE_PID_OUTPUT_REVERSED = false
 
const bool constants::DRIVE_SQUARE_CONTROL_INPUTS = false
 
const bool constants::DRIVE_CURVATURE_KINEMATICS_ALLOW_TURN_WHILE_STOPPED = true
 
const int constants::RECORDER_FPS = 15
 
const bool constants::ZED_MAINCAM_ENABLE_RECORDING = true
 
const bool constants::BASICCAM_GROUNDCAM_ENABLE_RECORDING = true
 
const bool constants::TAGDETECT_MAINCAM_ENABLE_RECORDING = true
 
const bool constants::TAGDETECT_GROUNDCAM_ENABLE_RECORDING = true
 
const bool constants::OBJECTDETECT_MAINCAM_ENABLE_RECORDING = true
 
const sl::RESOLUTION constants::ZED_BASE_RESOLUTION = sl::RESOLUTION::HD720
 
const sl::UNIT constants::ZED_MEASURE_UNITS = sl::UNIT::METER
 
const sl::COORDINATE_SYSTEM constants::ZED_COORD_SYSTEM = sl::COORDINATE_SYSTEM::LEFT_HANDED_Y_UP
 
const sl::DEPTH_MODE constants::ZED_DEPTH_MODE = sl::DEPTH_MODE::NEURAL
 
const sl::VIEW constants::ZED_RETRIEVE_VIEW = sl::VIEW::LEFT
 
const bool constants::ZED_SDK_VERBOSE = false
 
const bool constants::ZED_SENSING_FILL = false
 
const float constants::ZED_DEFAULT_MINIMUM_DISTANCE = 0.5
 
const float constants::ZED_DEFAULT_MAXIMUM_DISTANCE = 40.0
 
const float constants::ZED_DEFAULT_FLOOR_PLANE_ERROR = 0.5
 
const int constants::ZED_DEPTH_STABILIZATION = 1
 
const sl::SVO_COMPRESSION_MODE constants::ZED_SVO_COMPRESSION = sl::SVO_COMPRESSION_MODE::H265
 
const int constants::ZED_SVO_BITRATE = 1000
 
const sl::POSITIONAL_TRACKING_MODE constants::ZED_POSETRACK_MODE = sl::POSITIONAL_TRACKING_MODE::GEN_1
 
const bool constants::ZED_POSETRACK_AREA_MEMORY = true
 
const bool constants::ZED_POSETRACK_POSE_SMOOTHING = false
 
const bool constants::ZED_POSETRACK_FLOOR_IS_ORIGIN = true
 
const bool constants::ZED_POSETRACK_ENABLE_IMU_FUSION = true
 
const float constants::ZED_POSETRACK_USABLE_DEPTH_MIN = 0.75
 
const bool constants::ZED_POSETRACK_USE_GRAVITY_ORIGIN = true
 
const sl::SpatialMappingParameters::SPATIAL_MAP_TYPE constants::ZED_MAPPING_TYPE = sl::SpatialMappingParameters::SPATIAL_MAP_TYPE::MESH
 
const float constants::ZED_MAPPING_RANGE_METER = 20.0f
 
const float constants::ZED_MAPPING_RESOLUTION_METER = 0.03f
 
const int constants::ZED_MAPPING_MAX_MEMORY = 4096
 
const bool constants::ZED_MAPPING_USE_CHUNK_ONLY = true
 
const int constants::ZED_MAPPING_STABILITY_COUNTER = 3
 
const bool constants::ZED_OBJDETECTION_TRACK_OBJ = true
 
const bool constants::ZED_OBJDETECTION_SEGMENTATION = false
 
const sl::OBJECT_FILTERING_MODE constants::ZED_OBJDETECTION_FILTERING = sl::OBJECT_FILTERING_MODE::NMS3D_PER_CLASS
 
const float constants::ZED_OBJDETECTION_TRACKING_PREDICTION_TIMEOUT = 0.5
 
const float constants::ZED_OBJDETECTION_BATCH_RETENTION_TIME = 240
 
const float constants::ZED_OBJDETECTION_BATCH_LATENCY = 2
 
const sl::UNIT constants::FUSION_MEASUREMENT_UNITS = ZED_MEASURE_UNITS
 
const sl::COORDINATE_SYSTEM constants::FUSION_COORD_SYSTEM = ZED_COORD_SYSTEM
 
const bool constants::FUSION_SDK_VERBOSE = false
 
const bool constants::FUSION_ENABLE_GNSS_FUSION = false
 
const cv::InterpolationFlags constants::BASICCAM_RESIZE_INTERPOLATION_METHOD = cv::InterpolationFlags::INTER_LINEAR
 
const int constants::ZED_MAINCAM_RESOLUTIONX = 1280
 
const int constants::ZED_MAINCAM_RESOLUTIONY = 720
 
const int constants::ZED_MAINCAM_FPS = 60
 
const int constants::ZED_MAINCAM_HORIZONTAL_FOV = 110
 
const int constants::ZED_MAINCAM_VERTICAL_FOV = 70
 
const bool constants::ZED_MAINCAM_EXPORT_SVO_RECORDING = true
 
const bool constants::ZED_MAINCAM_EXPORT_SPATIAL_MAP = false
 
const bool constants::ZED_MAINCAM_USE_GPU_MAT = MODE_SIM ? false : true
 
const bool constants::ZED_MAINCAM_USE_HALF_PRECISION_DEPTH = true
 
const bool constants::ZED_MAINCAM_FUSION_MASTER = false
 
const int constants::ZED_MAINCAM_FRAME_RETRIEVAL_THREADS = 10
 
const int constants::ZED_MAINCAM_SERIAL = 31237348
 
const int constants::BASICCAM_GROUNDCAM_RESOLUTIONX = 1280
 
const int constants::BASICCAM_GROUNDCAM_RESOLUTIONY = 720
 
const int constants::BASICCAM_GROUNDCAM_FPS = 30
 
const int constants::BASICCAM_GROUNDCAM_HORIZONTAL_FOV = 110
 
const int constants::BASICCAM_GROUNDCAM_VERTICAL_FOV = 70
 
const int constants::BASICCAM_GROUNDCAM_FRAME_RETRIEVAL_THREADS = 5
 
const int constants::BASICCAM_GROUNDCAM_INDEX = 0
 
const PIXEL_FORMATS constants::BASICCAM_GROUNDCAM_PIXELTYPE = PIXEL_FORMATS::eBGR
 
const double constants::BBOX_MIN_LIFETIME_THRESHOLD = 0.15
 
const double constants::BBOX_MIN_SCREEN_PERCENTAGE = 0.001
 
const double constants::BBOX_TRACKER_LOST_TIMEOUT = 0.1
 
const double constants::BBOX_TRACKER_MAX_TRACK_TIME = 5.0
 
const double constants::BBOX_TRACKER_IOU_MATCH_THRESHOLD = 0.1
 
const tracking::TrackerType constants::BBOX_TRACKER_TYPE = tracking::TrackerType::eCSRT
 
const int constants::TAGDETECT_MAINCAM_DATA_RETRIEVAL_THREADS = 2
 
const int constants::TAGDETECT_MAINCAM_CORNER_REFINE_MAX_ITER = 30
 
const int constants::TAGDETECT_MAINCAM_CORNER_REFINE_METHOD = cv::aruco::CORNER_REFINE_NONE
 
const bool constants::TAGDETECT_MAINCAM_DETECT_INVERTED_MARKER = true
 
const int constants::TAGDETECT_MAINCAM_MARKER_BORDER_BITS = 1
 
const bool constants::TAGDETECT_MAINCAM_USE_ARUCO3_DETECTION = true
 
const bool constants::TAGDETECT_MAINCAM_ENABLE_TRACKING = true
 
const int constants::TAGDETECT_MAINCAM_MAX_FPS = 30
 
const bool constants::TAGDETECT_MAINCAM_ENABLE_TORCH = true
 
const std::string constants::TAGDETECT_MAINCAM_TORCH_MODEL
 
const float constants::TAGDETECT_MAINCAM_TORCH_CONFIDENCE = 0.7f
 
const float constants::TAGDETECT_MAINCAM_TORCH_NMS_THRESH = 0.4f
 
const int constants::OBJECTDETECT_MAINCAM_DATA_RETRIEVAL_THREADS = 2
 
const bool constants::OBJECTDETECT_MAINCAM_ENABLE_TRACKING = true
 
const int constants::OBJECTDETECT_MAINCAM_MAX_FPS = 30
 
const bool constants::OBJECTDETECT_MAINCAM_ENABLE_TORCH = true
 
const std::string constants::OBJECTDETECT_MAINCAM_TORCH_MODEL
 
const float constants::OBJECTDETECT_MAINCAM_TORCH_CONFIDENCE = 0.8f
 
const float constants::OBJECTDETECT_MAINCAM_TORCH_NMS_THRESH = 0.4f
 
const cv::aruco::PredefinedDictionaryType constants::ARUCO_DICTIONARY = cv::aruco::DICT_4X4_50
 
const float constants::ARUCO_TAG_SIDE_LENGTH = 0.015f
 
const double constants::ARUCO_PIXEL_THRESHOLD = 175
 
const double constants::ARUCO_PIXEL_THRESHOLD_MAX_VALUE = 255
 
const cv::Mat constants::ARUCO_SHARPEN_KERNEL_FAST = (cv::Mat_<double>(3, 3) << 0, 0, 0, 0, 3, 0, 0, 0, 0)
 
const cv::Mat constants::ARUCO_SHARPEN_KERNEL_EXTRA = (cv::Mat_<double>(3, 3) << 0, 0, 0, 0, 9, 0, 0, 0, 0)
 
const cv::Mat constants::ARUCO_EDGE_KERNEL = (cv::Mat_<double>(3, 3) << 0, -1, 0, -1, 5, -1, 0, -1, 0)
 
const int constants::STATEMACHINE_MAX_IPS = 60
 
const double constants::STATEMACHINE_ZED_REALIGN_THRESHOLD = 0.5
 
const double constants::APPROACH_MARKER_MOTOR_POWER = DRIVE_MAX_EFFORT * 0.6
 
const double constants::APPROACH_MARKER_PROXIMITY_THRESHOLD = 2.0
 
const double constants::APPROACH_MARKER_LOST_GIVE_UP_TIME = 15.0
 
const bool constants::APPROACH_MARKER_VERIFY_POSITION = true
 
const double constants::APPROACH_MARKER_VERIFY_TIME = 5.0
 
const double constants::APPROACH_MARKER_TAG_LOST_BUFFER_TIME = 2.0
 
const bool constants::APPROACH_MARKER_ENABLE_STUCK_DETECT = false
 
const double constants::APPROACH_OBJECT_MOTOR_POWER = DRIVE_MAX_EFFORT * 0.6
 
const double constants::APPROACH_OBJECT_PROXIMITY_THRESHOLD = 2.0
 
const double constants::APPROACH_OBJECT_LOST_GIVE_UP_TIME = 15.0
 
const bool constants::APPROACH_OBJECT_VERIFY_POSITION = true
 
const double constants::APPROACH_OBJECT_VERIFY_TIME = 5.0
 
const double constants::APPROACH_OBJECT_LOST_BUFFER_TIME = 2.0
 
const bool constants::APPROACH_OBJECT_ENABLE_STUCK_DETECT = false
 
const double constants::STUCK_CHECK_INTERVAL = 2.0
 
const unsigned int constants::STUCK_CHECK_ATTEMPTS = 3
 
const double constants::STUCK_CHECK_ROT_THRESH = 1.0
 
const double constants::STUCK_CHECK_VEL_THRESH = 0.01
 
const double constants::STUCK_SAME_POINT_PROXIMITY = 1.0
 
const double constants::STUCK_HEADING_ALIGN_TIMEOUT = 5.0
 
const double constants::STUCK_ALIGN_DEGREES = 65.0
 
const double constants::STUCK_ALIGN_TOLERANCE = 5.0
 
const double constants::REVERSE_MOTOR_POWER = DRIVE_MAX_EFFORT * 0.6
 
const double constants::REVERSE_DISTANCE = 3.0
 
const double constants::REVERSE_TIMEOUT_PER_METER = 5.0
 
const bool constants::REVERSE_MAINTAIN_HEADING = true
 
const double constants::SEARCH_MOTOR_POWER = DRIVE_MAX_EFFORT * 0.5
 
const double constants::SEARCH_ANGULAR_STEP_DEGREES = 57.0
 
const double constants::SEARCH_SPIRAL_SPACING = 1.0
 
const double constants::SEARCH_ZIGZAG_SPACING = 4.0
 
const double constants::SEARCH_SNAKE_SLITHERS = 2.0
 
const double constants::SEARCH_WAYPOINT_PROXIMITY = 2.0
 
const bool constants::SEARCH_ENABLE_STUCK_DETECT = false
 
const double constants::NAVIGATING_MOTOR_POWER = DRIVE_MAX_EFFORT * 0.8
 
const double constants::NAVIGATING_REACHED_GOAL_RADIUS = 2.0
 
const bool constants::NAVIGATING_VERIFY_POSITION = false
 
const double constants::NAVIGATING_VERIFY_SAMPLE_TIME = 30.0
 
const bool constants::NAVIGATING_ENABLE_STUCK_DETECT = false
 
const double constants::AVOIDANCE_STATE_MOTOR_POWER = DRIVE_MAX_EFFORT * 0.3
 
const double constants::STANLEY_CROSSTRACK_CONTROL_GAIN = 0.5
 
const double constants::STANLEY_DIST_TO_FRONT_AXLE = 0.5
 
const double constants::STANLEY_STEERING_ANGLE_LIMIT = 30.0
 
const int constants::STANLEY_PREDICTION_HORIZON = 1
 
const double constants::STANLEY_PREDICTION_TIME_STEP = 0.01
 
const double constants::ASTAR_AVOIDANCE_MULTIPLIER = 1.2
 
const double constants::ASTAR_MAX_SEARCH_GRID = 4000.0
 
const double constants::ASTAR_MAX_SEARCH_TIME = 120.0
 
const double constants::ASTAR_NODE_SIZE = 0.5
 
const double constants::NAVBOARD_MAX_GPS_DATA_AGE = 3.0
 
const double constants::NAVBOARD_MAX_COMPASS_DATA_AGE = 3.0
 

Detailed Description

Defines constants for the autonomy software.

Author
clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)
Date
2025-04-06
Copyright
Copyright Mars Rover Design Team 2025 - All Rights Reserved