Variables | |
| int | all_level = 0 |
| list | config_description = [{'srcline': 16, 'description': 'The acceleration limit of the robot in the x direction', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'acc_lim_x', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 17, 'description': 'The acceleration limit of the robot in the y direction', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'acc_lim_y', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 18, 'description': 'The acceleration limit of the robot in the theta direction', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'acc_lim_theta', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 20, 'description': 'The maximum x velocity for the robot in m/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'max_vel_x', 'edit_method': '', 'default': 0.55000000000000004, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 21, 'description': 'The minimum x velocity for the robot in m/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'min_vel_x', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 23, 'description': 'The absolute value of the maximum rotational velocity for the robot in rad/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'max_vel_theta', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 24, 'description': 'The absolute value of the minimum rotational velocity for the robot in rad/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'min_vel_theta', 'edit_method': '', 'default': -1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 25, 'description': 'The absolute value of the minimum in-place rotational velocity the controller will explore', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'min_in_place_vel_theta', 'edit_method': '', 'default': 0.40000000000000002, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 27, 'description': 'The amount of time to roll trajectories out for in seconds', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'sim_time', 'edit_method': '', 'default': 1.7, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 28, 'description': 'The granularity with which to check for collisions along each trajectory in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'sim_granularity', 'edit_method': '', 'default': 0.025000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 30, 'description': 'The weight for the path distance part of the cost function', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'pdist_scale', 'edit_method': '', 'default': 0.59999999999999998, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 31, 'description': 'The weight for the goal distance part of the cost function', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'gdist_scale', 'edit_method': '', 'default': 0.80000000000000004, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 32, 'description': 'The weight for the obstacle distance part of the cost function', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'occdist_scale', 'edit_method': '', 'default': 0.01, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 34, 'description': 'The distance the robot must travel before oscillation flags are reset, in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'oscillation_reset_dist', 'edit_method': '', 'default': 0.050000000000000003, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 35, 'description': 'The distance the robot must travel before oscillation flags are reset, in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'escape_reset_dist', 'edit_method': '', 'default': 0.10000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 36, 'description': 'The distance the robot must travel before oscillation flags are reset, in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'escape_reset_theta', 'edit_method': '', 'default': 1.5707963267948966, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 38, 'description': 'The number of samples to use when exploring the x velocity space', 'max': 300, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'vx_samples', 'edit_method': '', 'default': 20, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 39, 'description': 'The number of samples to use when exploring the theta velocity space', 'max': 300, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'vtheta_samples', 'edit_method': '', 'default': 20, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 41, 'description': 'How far the robot should look ahead of itself when differentiating between different rotational velocities', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'heading_lookahead', 'edit_method': '', 'default': 0.32500000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 43, 'description': 'Set this to true if the robot being controlled can take y velocities and false otherwise', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'holonomic_robot', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 45, 'description': 'The velocity to use while backing up', 'max': 2.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'escape_vel', 'edit_method': '', 'default': -0.10000000000000001, 'level': 0, 'min': -2.0, 'type': 'double'}, {'srcline': 47, 'description': 'Set this to true to use the Dynamic Window Approach, false to use acceleration limits', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'dwa', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 49, 'description': 'Set this to true to use the Dynamic Window Approach, false to use acceleration limits', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'heading_scoring', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 50, 'description': 'How far to look ahead in time when we score heading based trajectories', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'heading_scoring_timestep', 'edit_method': '', 'default': 0.10000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 52, 'description': 'Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'simple_attractor', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 54, 'description': "The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things", 'max': 1.5707963267948966, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'angular_sim_granularity', 'edit_method': '', 'default': 0.025000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 56, 'description': 'A comma delimited list of the y velocities the controller will explore', 'max': '', 'cconsttype': 'const char * const', 'ctype': 'std::string', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'y_vels', 'edit_method': '', 'default': '-0.3,-0.1,0.1,-0.3', 'level': 0, 'min': '', 'type': 'str'}, {'srcline': 58, 'description': 'Retore to the default configuration', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'restore_defaults', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}] |
| ********************************************************* | |
| dictionary | defaults = {} |
| dictionary | level = {} |
| dictionary | max = {} |
| dictionary | min = {} |
| dictionary | type = {} |
Definition at line 50 of file BaseLocalPlannerConfig.py.
| list base_local_planner::cfg::BaseLocalPlannerConfig::config_description = [{'srcline': 16, 'description': 'The acceleration limit of the robot in the x direction', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'acc_lim_x', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 17, 'description': 'The acceleration limit of the robot in the y direction', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'acc_lim_y', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 18, 'description': 'The acceleration limit of the robot in the theta direction', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'acc_lim_theta', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 20, 'description': 'The maximum x velocity for the robot in m/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'max_vel_x', 'edit_method': '', 'default': 0.55000000000000004, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 21, 'description': 'The minimum x velocity for the robot in m/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'min_vel_x', 'edit_method': '', 'default': 0.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 23, 'description': 'The absolute value of the maximum rotational velocity for the robot in rad/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'max_vel_theta', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 24, 'description': 'The absolute value of the minimum rotational velocity for the robot in rad/s', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'min_vel_theta', 'edit_method': '', 'default': -1.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 25, 'description': 'The absolute value of the minimum in-place rotational velocity the controller will explore', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'min_in_place_vel_theta', 'edit_method': '', 'default': 0.40000000000000002, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 27, 'description': 'The amount of time to roll trajectories out for in seconds', 'max': 10.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'sim_time', 'edit_method': '', 'default': 1.7, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 28, 'description': 'The granularity with which to check for collisions along each trajectory in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'sim_granularity', 'edit_method': '', 'default': 0.025000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 30, 'description': 'The weight for the path distance part of the cost function', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'pdist_scale', 'edit_method': '', 'default': 0.59999999999999998, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 31, 'description': 'The weight for the goal distance part of the cost function', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'gdist_scale', 'edit_method': '', 'default': 0.80000000000000004, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 32, 'description': 'The weight for the obstacle distance part of the cost function', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'occdist_scale', 'edit_method': '', 'default': 0.01, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 34, 'description': 'The distance the robot must travel before oscillation flags are reset, in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'oscillation_reset_dist', 'edit_method': '', 'default': 0.050000000000000003, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 35, 'description': 'The distance the robot must travel before oscillation flags are reset, in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'escape_reset_dist', 'edit_method': '', 'default': 0.10000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 36, 'description': 'The distance the robot must travel before oscillation flags are reset, in meters', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'escape_reset_theta', 'edit_method': '', 'default': 1.5707963267948966, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 38, 'description': 'The number of samples to use when exploring the x velocity space', 'max': 300, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'vx_samples', 'edit_method': '', 'default': 20, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 39, 'description': 'The number of samples to use when exploring the theta velocity space', 'max': 300, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'vtheta_samples', 'edit_method': '', 'default': 20, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 41, 'description': 'How far the robot should look ahead of itself when differentiating between different rotational velocities', 'max': 5.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'heading_lookahead', 'edit_method': '', 'default': 0.32500000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 43, 'description': 'Set this to true if the robot being controlled can take y velocities and false otherwise', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'holonomic_robot', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 45, 'description': 'The velocity to use while backing up', 'max': 2.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'escape_vel', 'edit_method': '', 'default': -0.10000000000000001, 'level': 0, 'min': -2.0, 'type': 'double'}, {'srcline': 47, 'description': 'Set this to true to use the Dynamic Window Approach, false to use acceleration limits', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'dwa', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 49, 'description': 'Set this to true to use the Dynamic Window Approach, false to use acceleration limits', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'heading_scoring', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 50, 'description': 'How far to look ahead in time when we score heading based trajectories', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'heading_scoring_timestep', 'edit_method': '', 'default': 0.10000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 52, 'description': 'Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'simple_attractor', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 54, 'description': "The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things", 'max': 1.5707963267948966, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'angular_sim_granularity', 'edit_method': '', 'default': 0.025000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 56, 'description': 'A comma delimited list of the y velocities the controller will explore', 'max': '', 'cconsttype': 'const char * const', 'ctype': 'std::string', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'y_vels', 'edit_method': '', 'default': '-0.3,-0.1,0.1,-0.3', 'level': 0, 'min': '', 'type': 'str'}, {'srcline': 58, 'description': 'Retore to the default configuration', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '../cfg/BaseLocalPlanner.cfg', 'name': 'restore_defaults', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}] |
*********************************************************
File autogenerated for the base_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 BaseLocalPlannerConfig.py.
| dictionary base_local_planner::cfg::BaseLocalPlannerConfig::defaults = {} |
Definition at line 47 of file BaseLocalPlannerConfig.py.
| dictionary base_local_planner::cfg::BaseLocalPlannerConfig::level = {} |
Definition at line 48 of file BaseLocalPlannerConfig.py.
| dictionary base_local_planner::cfg::BaseLocalPlannerConfig::max = {} |
Definition at line 46 of file BaseLocalPlannerConfig.py.
| dictionary base_local_planner::cfg::BaseLocalPlannerConfig::min = {} |
Definition at line 45 of file BaseLocalPlannerConfig.py.
| dictionary base_local_planner::cfg::BaseLocalPlannerConfig::type = {} |
Definition at line 49 of file BaseLocalPlannerConfig.py.
