from typing import NamedTuple
[docs]class TrajOptProps(NamedTuple):
'''
A NamedTuple for storing consistent properties we use across RTD
for trajectory optimization. Can also be constructed with specific
values rather than the default ones. Immutable
'''
# The time used for evaluation in the cost function
timeForCost: float = 1.0
# The time duration of the nominal plan. Braking action should
# occur in horizonTime-planTime
planTime: float = 0.5
# The time of the overall trajectory until stop
horizonTime: float = 1.0
# Whether or not the timeout the optimization if it is taking too
# long
doTimeout: bool = False
# The time at which the optimization should timeout
timeoutTime: float = 0.5
# Whether or not unknown or extra parameters (slack variables or if
# no initial guess is given) should be randomized or zero
# initialized
randomInit: bool = False