cfg::DWAPlannerConfig Namespace Reference

Variables
int	all_level = 0
list	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'}]
	*********************************************************
dictionary	defaults = {}
dictionary	level = {}
dictionary	max = {}
dictionary	min = {}
dictionary	type = {}

---

Variable Documentation

list cfg::DWAPlannerConfig::all_level = 0

Definition at line 50 of file DWAPlannerConfig.py.

list cfg::DWAPlannerConfig::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'}]

*********************************************************

File autogenerated for the dwa_local_planner package by the dynamic_reconfigure package. Please do not edit.

********************************************************/ ********************************************************** Software License Agreement (BSD License) Copyright (c) 2008, Willow Garage, Inc. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the Willow Garage nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. **********************************************************/

Definition at line 43 of file DWAPlannerConfig.py.

dictionary cfg::DWAPlannerConfig::defaults = {}

Definition at line 47 of file DWAPlannerConfig.py.

dictionary cfg::DWAPlannerConfig::level = {}

Definition at line 48 of file DWAPlannerConfig.py.

dictionary cfg::DWAPlannerConfig::max = {}

Definition at line 46 of file DWAPlannerConfig.py.

dictionary cfg::DWAPlannerConfig::min = {}

Definition at line 45 of file DWAPlannerConfig.py.

dictionary cfg::DWAPlannerConfig::type = {}

Definition at line 49 of file DWAPlannerConfig.py.