dwa_local_planner: DWAPlannerConfig.py Source File

00001 ## *********************************************************
00002 ## 
00003 ## File autogenerated for the dwa_local_planner package 
00004 ## by the dynamic_reconfigure package.
00005 ## Please do not edit.
00006 ## 
00007 ## ********************************************************/
00008 
00009 ##**********************************************************
00010 ## Software License Agreement (BSD License)
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00042 
00043 config_description = [{'srcline': 13, 'description': 'The absolute value of the maximum translational velocity for the robot in m/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'max_trans_vel', 'edit_method': '', 'default': 0.55000000000000004, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 14, 'description': 'The absolute value of the minimum translational velocity for the robot in m/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'min_trans_vel', 'edit_method': '', 'default': 0.10000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 16, 'description': 'The maximum x velocity for the robot in m/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'max_vel_x', 'edit_method': '', 'default': 0.55000000000000004, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 17, 'description': 'The minimum x velocity for the robot in m/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'min_vel_x', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 19, 'description': 'The maximum y velocity for the robot in m/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'max_vel_y', 'edit_method': '', 'default': 0.10000000000000001, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 20, 'description': 'The minimum y velocity for the robot in m/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'min_vel_y', 'edit_method': '', 'default': -0.10000000000000001, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 22, 'description': 'The absolute value of the maximum rotational velocity for the robot in rad/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'max_rot_vel', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 23, 'description': 'The absolute value of the minimum rotational velocity for the robot in rad/s', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'min_rot_vel', 'edit_method': '', 'default': 0.40000000000000002, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 25, 'description': 'The amount of time to roll trajectories out for in seconds', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'sim_time', 'edit_method': '', 'default': 1.7, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 26, 'description': 'The granularity with which to check for collisions along each trajectory in meters', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'sim_granularity', 'edit_method': '', 'default': 0.025000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 28, 'description': 'The weight for the path distance part of the cost function', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'path_distance_bias', 'edit_method': '', 'default': 32.0, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 29, 'description': 'The weight for the goal distance part of the cost function', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'goal_distance_bias', 'edit_method': '', 'default': 24.0, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 30, 'description': 'The weight for the obstacle distance part of the cost function', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'occdist_scale', 'edit_method': '', 'default': 0.01, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 32, 'description': 'The amount of time that the robot must stop before a collision in order for a trajectory to be considered valid in seconds', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'stop_time_buffer', 'edit_method': '', 'default': 0.20000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 33, 'description': 'The distance the robot must travel before oscillation flags are reset, in meters', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'oscillation_reset_dist', 'edit_method': '', 'default': 0.050000000000000003, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 35, 'description': 'The distance from the center point of the robot to place an additional scoring point, in meters', 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'forward_point_distance', 'edit_method': '', 'default': 0.32500000000000001, 'level': 0, 'min': '-std::numeric_limits<double>::infinity()', 'type': 'double'}, {'srcline': 37, 'description': "The absolute value of the velocity at which to start scaling the robot's footprint, in m/s", 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'scaling_speed', 'edit_method': '', 'default': 0.25, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 38, 'description': "The maximum factor to scale the robot's footprint by", 'max': 'std::numeric_limits<double>::infinity()', 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'max_scaling_factor', 'edit_method': '', 'default': 0.20000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 40, 'description': 'The number of samples to use when exploring the x velocity space', 'max': 2147483647, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'vx_samples', 'edit_method': '', 'default': 3, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 41, 'description': 'The number of samples to use when exploring the y velocity space', 'max': 2147483647, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'vy_samples', 'edit_method': '', 'default': 10, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 42, 'description': 'The number of samples to use when exploring the theta velocity space', 'max': 2147483647, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'vth_samples', 'edit_method': '', 'default': 20, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 44, 'description': 'Whether to penalize trajectories that have negative x velocities.', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/DWAPlanner.cfg', 'name': 'penalize_negative_x', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}]
00044 
00045 min = {}
00046 max = {}
00047 defaults = {}
00048 level = {}
00049 type = {}
00050 all_level = 0
00051 
00052 for param in config_description:
00053     min[param['name']] = param['min']
00054     max[param['name']] = param['max']
00055     defaults[param['name']] = param['default']
00056     level[param['name']] = param['level']
00057     type[param['name']] = param['type']
00058     all_level = all_level | param['level']
00059