Trajectory related parameters. More...
#include <teb_config.h>
Public Attributes | |
| double | dt_hysteresis |
| Hysteresis for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref. | |
| double | dt_ref |
| Desired temporal resolution of the trajectory (should be in the magniture of the underlying control rate) | |
| int | feasibility_check_no_poses |
| Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval. | |
| double | force_reinit_new_goal_dist |
| Reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting) | |
| bool | global_plan_overwrite_orientation |
| Overwrite orientation of local subgoals provided by the global planner. | |
| double | global_plan_viapoint_sep |
| Min. separation between each two consecutive via-points extracted from the global plan (if negative: disabled) | |
| double | max_global_plan_lookahead_dist |
| Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if <=0: disabled; the length is also bounded by the local costmap size!]. | |
| int | min_samples |
| Minimum number of samples (should be always greater than 2) | |
| bool | publish_feedback |
| Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes) | |
| bool | shrink_horizon_backup |
| Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues. | |
| double | teb_autosize |
| Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended) | |
| bool | via_points_ordered |
| If true, the planner adheres to the order of via-points in the storage container. | |
Trajectory related parameters.
Definition at line 69 of file teb_config.h.
Hysteresis for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref.
Definition at line 73 of file teb_config.h.
Desired temporal resolution of the trajectory (should be in the magniture of the underlying control rate)
Definition at line 72 of file teb_config.h.
Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval.
Definition at line 80 of file teb_config.h.
Reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting)
Definition at line 79 of file teb_config.h.
Overwrite orientation of local subgoals provided by the global planner.
Definition at line 75 of file teb_config.h.
Min. separation between each two consecutive via-points extracted from the global plan (if negative: disabled)
Definition at line 76 of file teb_config.h.
Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if <=0: disabled; the length is also bounded by the local costmap size!].
Definition at line 78 of file teb_config.h.
Minimum number of samples (should be always greater than 2)
Definition at line 74 of file teb_config.h.
Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes)
Definition at line 81 of file teb_config.h.
Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues.
Definition at line 82 of file teb_config.h.
Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended)
Definition at line 71 of file teb_config.h.
If true, the planner adheres to the order of via-points in the storage container.
Definition at line 77 of file teb_config.h.