#include <teb_config.h>
Public Attributes | |
| bool | enable_homotopy_class_planning |
| Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once). | |
| bool | enable_multithreading |
| Activate multiple threading for planning multiple trajectories in parallel. | |
| double | h_signature_prescaler |
| Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2<H<=1). | |
| double | h_signature_threshold |
| Two h-signatures are assumed to be equal, if both the difference of real parts and complex parts are below the specified threshold. | |
| int | max_number_classes |
| Specify the maximum number of allowed alternative homotopy classes (limits computational effort) | |
| double | obstacle_heading_threshold |
| Specify the value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account for exploration [0,1]. | |
| double | obstacle_keypoint_offset |
| If simple_exploration is turned on, this parameter determines the distance on the left and right side of the obstacle at which a new keypoint will be cretead (in addition to min_obstacle_dist). | |
| double | roadmap_graph_area_length_scale |
| The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal! | |
| double | roadmap_graph_area_width |
| < Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off. | |
| int | roadmap_graph_no_samples |
| bool | selection_alternative_time_cost |
| If true, time cost is replaced by the total transition time. | |
| double | selection_cost_hysteresis |
| Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor). | |
| double | selection_obst_cost_scale |
| Extra scaling of obstacle cost terms just for selecting the 'best' candidate. | |
| double | selection_prefer_initial_plan |
| Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan. | |
| double | selection_viapoint_cost_scale |
| Extra scaling of via-point cost terms just for selecting the 'best' candidate. | |
| bool | simple_exploration |
| If true, distinctive trajectories are explored using a simple left-right approach (pass each obstacle on the left or right side) for path generation, otherwise sample possible roadmaps randomly in a specified region between start and goal. | |
| bool | viapoints_all_candidates |
| If true, all trajectories of different topologies are attached to the current set of via-points, otherwise only the trajectory sharing the same one as the initial/global plan. | |
| bool | visualize_hc_graph |
| Visualize the graph that is created for exploring new homotopy classes. | |
Definition at line 159 of file teb_config.h.
Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once).
Definition at line 161 of file teb_config.h.
Activate multiple threading for planning multiple trajectories in parallel.
Definition at line 162 of file teb_config.h.
Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2<H<=1).
Definition at line 174 of file teb_config.h.
Two h-signatures are assumed to be equal, if both the difference of real parts and complex parts are below the specified threshold.
Definition at line 175 of file teb_config.h.
Specify the maximum number of allowed alternative homotopy classes (limits computational effort)
Definition at line 164 of file teb_config.h.
Specify the value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account for exploration [0,1].
Definition at line 178 of file teb_config.h.
If simple_exploration is turned on, this parameter determines the distance on the left and right side of the obstacle at which a new keypoint will be cretead (in addition to min_obstacle_dist).
Definition at line 177 of file teb_config.h.
The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal!
Definition at line 173 of file teb_config.h.
< Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off.
Random keypoints/waypoints are sampled in a rectangular region between start and goal. Specify the width of that region in meters.
Definition at line 172 of file teb_config.h.
Definition at line 171 of file teb_config.h.
If true, time cost is replaced by the total transition time.
Definition at line 169 of file teb_config.h.
Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor).
Definition at line 165 of file teb_config.h.
Extra scaling of obstacle cost terms just for selecting the 'best' candidate.
Definition at line 167 of file teb_config.h.
Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan.
Definition at line 166 of file teb_config.h.
Extra scaling of via-point cost terms just for selecting the 'best' candidate.
Definition at line 168 of file teb_config.h.
If true, distinctive trajectories are explored using a simple left-right approach (pass each obstacle on the left or right side) for path generation, otherwise sample possible roadmaps randomly in a specified region between start and goal.
Definition at line 163 of file teb_config.h.
If true, all trajectories of different topologies are attached to the current set of via-points, otherwise only the trajectory sharing the same one as the initial/global plan.
Definition at line 180 of file teb_config.h.
Visualize the graph that is created for exploring new homotopy classes.
Definition at line 182 of file teb_config.h.