Recovery/backup related parameters. More...
#include <teb_config.h>
Public Attributes | |
| double | oscillation_filter_duration |
| Filter length/duration [sec] for the detection of oscillations. More... | |
| double | oscillation_omega_eps |
| Threshold for the average normalized angular velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected. More... | |
| bool | oscillation_recovery |
| Try to detect and resolve oscillations between multiple solutions in the same equivalence class (robot frequently switches between left/right/forward/backwards) More... | |
| double | oscillation_recovery_min_duration |
| Minumum duration [sec] for which the recovery mode is activated after an oscillation is detected. More... | |
| double | oscillation_v_eps |
| Threshold for the average normalized linear velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected. More... | |
| bool | shrink_horizon_backup |
| Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues. More... | |
| double | shrink_horizon_min_duration |
| Specify minimum duration for the reduced horizon in case an infeasible trajectory is detected. More... | |
Recovery/backup related parameters.
Definition at line 202 of file teb_config.h.
| double teb_local_planner::TebConfig::Recovery::oscillation_filter_duration |
Filter length/duration [sec] for the detection of oscillations.
Definition at line 210 of file teb_config.h.
| double teb_local_planner::TebConfig::Recovery::oscillation_omega_eps |
Threshold for the average normalized angular velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected.
Definition at line 208 of file teb_config.h.
| bool teb_local_planner::TebConfig::Recovery::oscillation_recovery |
Try to detect and resolve oscillations between multiple solutions in the same equivalence class (robot frequently switches between left/right/forward/backwards)
Definition at line 206 of file teb_config.h.
| double teb_local_planner::TebConfig::Recovery::oscillation_recovery_min_duration |
Minumum duration [sec] for which the recovery mode is activated after an oscillation is detected.
Definition at line 209 of file teb_config.h.
| double teb_local_planner::TebConfig::Recovery::oscillation_v_eps |
Threshold for the average normalized linear velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected.
Definition at line 207 of file teb_config.h.
| bool teb_local_planner::TebConfig::Recovery::shrink_horizon_backup |
Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues.
Definition at line 204 of file teb_config.h.
| double teb_local_planner::TebConfig::Recovery::shrink_horizon_min_duration |
Specify minimum duration for the reduced horizon in case an infeasible trajectory is detected.
Definition at line 205 of file teb_config.h.