public DStarPlanner(double vehicleRadius, double achieveThreshold, double collideThreshold, double collideBackoff, double collapseThreshold, double bezierSegmentation, double blurWeight, double resX, double resY, double extentX, double extentY, int robotID)
{
this.vehicleRadius = vehicleRadius;
this.achieveThreshold = achieveThreshold;
this.collideThreshold = collideThreshold;
this.collideBackoff = collideBackoff;
this.collapseThreshold = collapseThreshold;
this.bezierSegmentation = bezierSegmentation;
this.blurWeight = blurWeight;
this.resX = resX;
this.resY = resY;
this.extentX = extentX;
this.extentY = extentY;
waypointsAchieved = 0;
this.robotID = robotID;
dstar = new DStarAlgorithm(blurWeight, resX, resY, extentX, extentY);
smoother = new PathSmoother.PathSmoother(vehicleRadius, resX, resY, extentX, extentY);
}
public DStarPlanner(double vehicleRadius, double achieveThreshold, double collideThreshold, double collideBackoff, double collapseThreshold, double bezierSegmentation, double blurWeight, double resX, double resY, double extentX, double extentY, int robotID)
{
this.vehicleRadius = vehicleRadius;
this.achieveThreshold = achieveThreshold;
this.collideThreshold = collideThreshold;
this.collideBackoff = collideBackoff;
this.collapseThreshold = collapseThreshold;
this.bezierSegmentation = bezierSegmentation;
this.blurWeight = blurWeight;
this.resX = resX;
this.resY = resY;
this.extentX = extentX;
this.extentY = extentY;
waypointsAchieved = 0;
this.robotID = robotID;
dstar = new DStarAlgorithm(blurWeight, resX, resY, extentX, extentY);
smoother = new PathSmoother.PathSmoother(vehicleRadius, resX, resY, extentX, extentY);
}