Uses the shortest distances between obstacles and the robot in order to penalize the feasability of each state. The smaller distances will lead to higher costs values for that state. Collisions will be set to the highest cost.

  - class: stomp_moveit/ObstacleDistanceGradient
    max_distance: 0.2
    cost_weight: 1.0
    longest_valid_joint_move: 0.05 

Author(s): Jorge Nicho
autogenerated on Sat Jun 8 2019 19:24:01