#include <teb_config.h>
Public Attributes | |
| bool | delete_detours_backwards |
| If enabled, the planner will discard the plans detouring backwards with respect to the best plan. More... | |
| double | detours_orientation_tolerance |
| A plan is considered a detour if its start orientation differs more than this from the best plan. More... | |
| bool | enable_homotopy_class_planning |
| Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once). More... | |
| bool | enable_multithreading |
| Activate multiple threading for planning multiple trajectories in parallel. More... | |
| double | h_signature_prescaler |
| Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2<H<=1). More... | |
| double | h_signature_threshold |
| Two h-signatures are assumed to be equal, if both the difference of real parts and complex parts are below the specified threshold. More... | |
| double | length_start_orientation_vector |
| Length of the vector used to compute the start orientation of a plan. More... | |
| int | max_number_classes |
| Specify the maximum number of allowed alternative homotopy classes (limits computational effort) More... | |
| int | max_number_plans_in_current_class |
| Specify the maximum number of trajectories to try that are in the same homotopy class as the current trajectory (helps avoid local minima) More... | |
| double | max_ratio_detours_duration_best_duration |
| Detours are discarted if their execution time / the execution time of the best teb is > this. More... | |
| double | obstacle_heading_threshold |
| Specify the value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account for exploration [0,1]. More... | |
| double | obstacle_keypoint_offset |
| If simple_exploration is turned on, this parameter determines the distance on the left and right side of the obstacle at which a new keypoint will be cretead (in addition to min_obstacle_dist). More... | |
| double | roadmap_graph_area_length_scale |
| The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal! More... | |
| double | roadmap_graph_area_width |
| < Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off. More... | |
| int | roadmap_graph_no_samples |
| bool | selection_alternative_time_cost |
| If true, time cost is replaced by the total transition time. More... | |
| double | selection_cost_hysteresis |
| Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor). More... | |
| double | selection_dropping_probability |
| At each planning cycle, TEBs other than the current 'best' one will be randomly dropped with this probability. Prevents becoming 'fixated' on sub-optimal alternative homotopies. More... | |
| double | selection_obst_cost_scale |
| Extra scaling of obstacle cost terms just for selecting the 'best' candidate. More... | |
| double | selection_prefer_initial_plan |
| Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan. More... | |
| double | selection_viapoint_cost_scale |
| Extra scaling of via-point cost terms just for selecting the 'best' candidate. More... | |
| bool | simple_exploration |
| If true, distinctive trajectories are explored using a simple left-right approach (pass each obstacle on the left or right side) for path generation, otherwise sample possible roadmaps randomly in a specified region between start and goal. More... | |
| double | switching_blocking_period |
| Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed. More... | |
| bool | viapoints_all_candidates |
| If true, all trajectories of different topologies are attached to the current set of via-points, otherwise only the trajectory sharing the same one as the initial/global plan. More... | |
| bool | visualize_hc_graph |
| Visualize the graph that is created for exploring new homotopy classes. More... | |
| double | visualize_with_time_as_z_axis_scale |
| If this value is bigger than 0, the trajectory and obstacles are visualized in 3d using the time as the z-axis scaled by this value. Most useful for dynamic obstacles. More... | |
Definition at line 183 of file teb_config.h.
| bool teb_local_planner::TebConfig::HomotopyClasses::delete_detours_backwards |
If enabled, the planner will discard the plans detouring backwards with respect to the best plan.
Definition at line 211 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::detours_orientation_tolerance |
A plan is considered a detour if its start orientation differs more than this from the best plan.
Definition at line 212 of file teb_config.h.
| bool teb_local_planner::TebConfig::HomotopyClasses::enable_homotopy_class_planning |
Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once).
Definition at line 185 of file teb_config.h.
| bool teb_local_planner::TebConfig::HomotopyClasses::enable_multithreading |
Activate multiple threading for planning multiple trajectories in parallel.
Definition at line 186 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::h_signature_prescaler |
Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2<H<=1).
Definition at line 201 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::h_signature_threshold |
Two h-signatures are assumed to be equal, if both the difference of real parts and complex parts are below the specified threshold.
Definition at line 202 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::length_start_orientation_vector |
Length of the vector used to compute the start orientation of a plan.
Definition at line 213 of file teb_config.h.
| int teb_local_planner::TebConfig::HomotopyClasses::max_number_classes |
Specify the maximum number of allowed alternative homotopy classes (limits computational effort)
Definition at line 188 of file teb_config.h.
| int teb_local_planner::TebConfig::HomotopyClasses::max_number_plans_in_current_class |
Specify the maximum number of trajectories to try that are in the same homotopy class as the current trajectory (helps avoid local minima)
Definition at line 189 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::max_ratio_detours_duration_best_duration |
Detours are discarted if their execution time / the execution time of the best teb is > this.
Definition at line 214 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::obstacle_heading_threshold |
Specify the value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account for exploration [0,1].
Definition at line 205 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::obstacle_keypoint_offset |
If simple_exploration is turned on, this parameter determines the distance on the left and right side of the obstacle at which a new keypoint will be cretead (in addition to min_obstacle_dist).
Definition at line 204 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::roadmap_graph_area_length_scale |
The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal!
Definition at line 200 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::roadmap_graph_area_width |
< Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off.
Random keypoints/waypoints are sampled in a rectangular region between start and goal. Specify the width of that region in meters.
Definition at line 199 of file teb_config.h.
| int teb_local_planner::TebConfig::HomotopyClasses::roadmap_graph_no_samples |
Definition at line 198 of file teb_config.h.
| bool teb_local_planner::TebConfig::HomotopyClasses::selection_alternative_time_cost |
If true, time cost is replaced by the total transition time.
Definition at line 194 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::selection_cost_hysteresis |
Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor).
Definition at line 190 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::selection_dropping_probability |
At each planning cycle, TEBs other than the current 'best' one will be randomly dropped with this probability. Prevents becoming 'fixated' on sub-optimal alternative homotopies.
Definition at line 195 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::selection_obst_cost_scale |
Extra scaling of obstacle cost terms just for selecting the 'best' candidate.
Definition at line 192 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::selection_prefer_initial_plan |
Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan.
Definition at line 191 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::selection_viapoint_cost_scale |
Extra scaling of via-point cost terms just for selecting the 'best' candidate.
Definition at line 193 of file teb_config.h.
| bool teb_local_planner::TebConfig::HomotopyClasses::simple_exploration |
If true, distinctive trajectories are explored using a simple left-right approach (pass each obstacle on the left or right side) for path generation, otherwise sample possible roadmaps randomly in a specified region between start and goal.
Definition at line 187 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::switching_blocking_period |
Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed.
Definition at line 196 of file teb_config.h.
| bool teb_local_planner::TebConfig::HomotopyClasses::viapoints_all_candidates |
If true, all trajectories of different topologies are attached to the current set of via-points, otherwise only the trajectory sharing the same one as the initial/global plan.
Definition at line 207 of file teb_config.h.
| bool teb_local_planner::TebConfig::HomotopyClasses::visualize_hc_graph |
Visualize the graph that is created for exploring new homotopy classes.
Definition at line 209 of file teb_config.h.
| double teb_local_planner::TebConfig::HomotopyClasses::visualize_with_time_as_z_axis_scale |
If this value is bigger than 0, the trajectory and obstacles are visualized in 3d using the time as the z-axis scaled by this value. Most useful for dynamic obstacles.
Definition at line 210 of file teb_config.h.