teb_local_planner::TebConfig::Obstacles Struct Reference

Obstacle related parameters. More...

#include <teb_config.h>

List of all members.

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)
double	min_obstacle_dist
	Minimum desired separation from obstacles.
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.

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Detailed Description

Obstacle related parameters.

Definition at line 107 of file teb_config.h.

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Member Data Documentation

std::string teb_local_planner::TebConfig::Obstacles::costmap_converter_plugin

Define a plugin name of the costmap_converter package (costmap cells are converted to points/lines/polygons)

Definition at line 114 of file teb_config.h.

int teb_local_planner::TebConfig::Obstacles::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)

Definition at line 116 of file teb_config.h.

bool teb_local_planner::TebConfig::Obstacles::costmap_converter_spin_thread

If true, the costmap converter invokes its callback queue in a different thread.

Definition at line 115 of file teb_config.h.

double teb_local_planner::TebConfig::Obstacles::costmap_obstacles_behind_robot_dist

Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters)

Definition at line 112 of file teb_config.h.

bool teb_local_planner::TebConfig::Obstacles::include_costmap_obstacles

Specify whether the obstacles in the costmap should be taken into account directly.

Definition at line 111 of file teb_config.h.

double teb_local_planner::TebConfig::Obstacles::inflation_dist

buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)

Definition at line 110 of file teb_config.h.

double teb_local_planner::TebConfig::Obstacles::min_obstacle_dist

Minimum desired separation from obstacles.

Definition at line 109 of file teb_config.h.

int teb_local_planner::TebConfig::Obstacles::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.

Definition at line 113 of file teb_config.h.

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The documentation for this struct was generated from the following file:

• teb_config.h