Obstacle related parameters. More...
#include <teb_config.h>
Public Attributes | |
| std::string | costmap_converter_plugin |
| Define a plugin name of the costmap_converter package (costmap cells are converted to points/lines/polygons) | |
| int | costmap_converter_rate |
| The rate that defines how often the costmap_converter plugin processes the current costmap (the value should not be much higher than the costmap update rate) | |
| bool | costmap_converter_spin_thread |
If true, the costmap converter invokes its callback queue in a different thread. | |
| double | costmap_obstacles_behind_robot_dist |
| Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters) | |
| bool | include_costmap_obstacles |
| Specify whether the obstacles in the costmap should be taken into account directly. | |
| double | inflation_dist |
| buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect) | |
| bool | legacy_obstacle_association |
| If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only "relevant" obstacles). | |
| double | min_obstacle_dist |
| Minimum desired separation from obstacles. | |
| double | obstacle_association_cutoff_factor |
| See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first. | |
| double | obstacle_association_force_inclusion_factor |
| The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist. | |
| int | obstacle_poses_affected |
| The obstacle position is attached to the closest pose on the trajectory to reduce computational effort, but take a number of neighbors into account as well. | |
Obstacle related parameters.
Definition at line 113 of file teb_config.h.
Define a plugin name of the costmap_converter package (costmap cells are converted to points/lines/polygons)
Definition at line 123 of file teb_config.h.
The rate that defines how often the costmap_converter plugin processes the current costmap (the value should not be much higher than the costmap update rate)
Definition at line 125 of file teb_config.h.
If true, the costmap converter invokes its callback queue in a different thread.
Definition at line 124 of file teb_config.h.
Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters)
Definition at line 118 of file teb_config.h.
Specify whether the obstacles in the costmap should be taken into account directly.
Definition at line 117 of file teb_config.h.
buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)
Definition at line 116 of file teb_config.h.
If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only "relevant" obstacles).
Definition at line 120 of file teb_config.h.
Minimum desired separation from obstacles.
Definition at line 115 of file teb_config.h.
See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first.
Definition at line 122 of file teb_config.h.
The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist.
Definition at line 121 of file teb_config.h.
The obstacle position is attached to the closest pose on the trajectory to reduce computational effort, but take a number of neighbors into account as well.
Definition at line 119 of file teb_config.h.