Optimization related parameters. More...
#include <teb_config.h>
Public Attributes | |
| int | no_inner_iterations |
| Number of solver iterations called in each outerloop iteration. More... | |
| int | no_outer_iterations |
| Each outerloop iteration automatically resizes the trajectory and invokes the internal optimizer with no_inner_iterations. More... | |
| double | obstacle_cost_exponent |
| Exponent for nonlinear obstacle cost (cost = linear_cost * obstacle_cost_exponent). Set to 1 to disable nonlinear cost (default) More... | |
| bool | optimization_activate |
| Activate the optimization. More... | |
| bool | optimization_verbose |
| Print verbose information. More... | |
| double | penalty_epsilon |
| Add a small safety margin to penalty functions for hard-constraint approximations. More... | |
| double | weight_acc_lim_theta |
| Optimization weight for satisfying the maximum allowed angular acceleration. More... | |
| double | weight_acc_lim_x |
| Optimization weight for satisfying the maximum allowed translational acceleration. More... | |
| double | weight_acc_lim_y |
| Optimization weight for satisfying the maximum allowed strafing acceleration (in use only for holonomic robots) More... | |
| double | weight_adapt_factor |
| Some special weights (currently 'weight_obstacle') are repeatedly scaled by this factor in each outer TEB iteration (weight_new = weight_old*factor); Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions of the underlying optimization problem. More... | |
| double | weight_dynamic_obstacle |
| Optimization weight for satisfying a minimum separation from dynamic obstacles. More... | |
| double | weight_dynamic_obstacle_inflation |
| Optimization weight for the inflation penalty of dynamic obstacles (should be small) More... | |
| double | weight_inflation |
| Optimization weight for the inflation penalty (should be small) More... | |
| double | weight_kinematics_forward_drive |
| Optimization weight for forcing the robot to choose only forward directions (positive transl. velocities, only diffdrive robot) More... | |
| double | weight_kinematics_nh |
| Optimization weight for satisfying the non-holonomic kinematics. More... | |
| double | weight_kinematics_turning_radius |
| Optimization weight for enforcing a minimum turning radius (carlike robots) More... | |
| double | weight_max_vel_theta |
| Optimization weight for satisfying the maximum allowed angular velocity. More... | |
| double | weight_max_vel_x |
| Optimization weight for satisfying the maximum allowed translational velocity. More... | |
| double | weight_max_vel_y |
| Optimization weight for satisfying the maximum allowed strafing velocity (in use only for holonomic robots) More... | |
| double | weight_obstacle |
| Optimization weight for satisfying a minimum separation from obstacles. More... | |
| double | weight_optimaltime |
| Optimization weight for contracting the trajectory w.r.t. transition time. More... | |
| double | weight_prefer_rotdir |
| Optimization weight for preferring a specific turning direction (-> currently only activated if an oscillation is detected, see 'oscillation_recovery'. More... | |
| double | weight_shortest_path |
| Optimization weight for contracting the trajectory w.r.t. path length. More... | |
| double | weight_viapoint |
| Optimization weight for minimizing the distance to via-points. More... | |
Optimization related parameters.
Definition at line 136 of file teb_config.h.
| int teb_local_planner::TebConfig::Optimization::no_inner_iterations |
Number of solver iterations called in each outerloop iteration.
Definition at line 138 of file teb_config.h.
| int teb_local_planner::TebConfig::Optimization::no_outer_iterations |
Each outerloop iteration automatically resizes the trajectory and invokes the internal optimizer with no_inner_iterations.
Definition at line 139 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::obstacle_cost_exponent |
Exponent for nonlinear obstacle cost (cost = linear_cost * obstacle_cost_exponent). Set to 1 to disable nonlinear cost (default)
Definition at line 165 of file teb_config.h.
| bool teb_local_planner::TebConfig::Optimization::optimization_activate |
Activate the optimization.
Definition at line 141 of file teb_config.h.
| bool teb_local_planner::TebConfig::Optimization::optimization_verbose |
Print verbose information.
Definition at line 142 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::penalty_epsilon |
Add a small safety margin to penalty functions for hard-constraint approximations.
Definition at line 144 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_acc_lim_theta |
Optimization weight for satisfying the maximum allowed angular acceleration.
Definition at line 151 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_acc_lim_x |
Optimization weight for satisfying the maximum allowed translational acceleration.
Definition at line 149 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_acc_lim_y |
Optimization weight for satisfying the maximum allowed strafing acceleration (in use only for holonomic robots)
Definition at line 150 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_adapt_factor |
Some special weights (currently 'weight_obstacle') are repeatedly scaled by this factor in each outer TEB iteration (weight_new = weight_old*factor); Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions of the underlying optimization problem.
Definition at line 164 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_dynamic_obstacle |
Optimization weight for satisfying a minimum separation from dynamic obstacles.
Definition at line 159 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_dynamic_obstacle_inflation |
Optimization weight for the inflation penalty of dynamic obstacles (should be small)
Definition at line 160 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_inflation |
Optimization weight for the inflation penalty (should be small)
Definition at line 158 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_kinematics_forward_drive |
Optimization weight for forcing the robot to choose only forward directions (positive transl. velocities, only diffdrive robot)
Definition at line 153 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_kinematics_nh |
Optimization weight for satisfying the non-holonomic kinematics.
Definition at line 152 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_kinematics_turning_radius |
Optimization weight for enforcing a minimum turning radius (carlike robots)
Definition at line 154 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_max_vel_theta |
Optimization weight for satisfying the maximum allowed angular velocity.
Definition at line 148 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_max_vel_x |
Optimization weight for satisfying the maximum allowed translational velocity.
Definition at line 146 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_max_vel_y |
Optimization weight for satisfying the maximum allowed strafing velocity (in use only for holonomic robots)
Definition at line 147 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_obstacle |
Optimization weight for satisfying a minimum separation from obstacles.
Definition at line 157 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_optimaltime |
Optimization weight for contracting the trajectory w.r.t. transition time.
Definition at line 155 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_prefer_rotdir |
Optimization weight for preferring a specific turning direction (-> currently only activated if an oscillation is detected, see 'oscillation_recovery'.
Definition at line 162 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_shortest_path |
Optimization weight for contracting the trajectory w.r.t. path length.
Definition at line 156 of file teb_config.h.
| double teb_local_planner::TebConfig::Optimization::weight_viapoint |
Optimization weight for minimizing the distance to via-points.
Definition at line 161 of file teb_config.h.