Obstacle related parameters. More...
#include <teb_config.h>
Public Attributes | |
| std::string | costmap_converter_plugin |
| Define a plugin name of the costmap_converter package (costmap cells are converted to points/lines/polygons) More... | |
| 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) More... | |
| bool | costmap_converter_spin_thread |
If true, the costmap converter invokes its callback queue in a different thread. More... | |
| double | costmap_obstacles_behind_robot_dist |
| Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters) More... | |
| double | dynamic_obstacle_inflation_dist |
| Buffer zone around predicted locations of dynamic obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect) More... | |
| bool | include_costmap_obstacles |
| Specify whether the obstacles in the costmap should be taken into account directly. More... | |
| bool | include_dynamic_obstacles |
| Specify whether the movement of dynamic obstacles should be predicted by a constant velocity model (this also effects homotopy class planning); If false, all obstacles are considered to be static. More... | |
| double | inflation_dist |
| buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect) More... | |
| bool | legacy_obstacle_association |
| If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only "relevant" obstacles). More... | |
| double | min_obstacle_dist |
| Minimum desired separation from obstacles. More... | |
| double | obstacle_association_cutoff_factor |
| See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first. More... | |
| double | obstacle_association_force_inclusion_factor |
| The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist. More... | |
| 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. More... | |
| double | obstacle_proximity_lower_bound |
| Distance to a static obstacle for which the velocity should be lower. More... | |
| double | obstacle_proximity_ratio_max_vel |
| Ratio of the maximum velocities used as an upper bound when reducing the speed due to the proximity to a static obstacles. More... | |
| double | obstacle_proximity_upper_bound |
| Distance to a static obstacle for which the velocity should be higher. More... | |
Obstacle related parameters.
Definition at line 127 of file teb_config.h.
| 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 139 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 141 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 140 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 134 of file teb_config.h.
| double teb_local_planner::TebConfig::Obstacles::dynamic_obstacle_inflation_dist |
Buffer zone around predicted locations of dynamic obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)
Definition at line 131 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 133 of file teb_config.h.
| bool teb_local_planner::TebConfig::Obstacles::include_dynamic_obstacles |
Specify whether the movement of dynamic obstacles should be predicted by a constant velocity model (this also effects homotopy class planning); If false, all obstacles are considered to be static.
Definition at line 132 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 130 of file teb_config.h.
| bool teb_local_planner::TebConfig::Obstacles::legacy_obstacle_association |
If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only "relevant" obstacles).
Definition at line 136 of file teb_config.h.
| double teb_local_planner::TebConfig::Obstacles::min_obstacle_dist |
Minimum desired separation from obstacles.
Definition at line 129 of file teb_config.h.
| double teb_local_planner::TebConfig::Obstacles::obstacle_association_cutoff_factor |
See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first.
Definition at line 138 of file teb_config.h.
| double teb_local_planner::TebConfig::Obstacles::obstacle_association_force_inclusion_factor |
The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist.
Definition at line 137 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 135 of file teb_config.h.
| double teb_local_planner::TebConfig::Obstacles::obstacle_proximity_lower_bound |
Distance to a static obstacle for which the velocity should be lower.
Definition at line 143 of file teb_config.h.
| double teb_local_planner::TebConfig::Obstacles::obstacle_proximity_ratio_max_vel |
Ratio of the maximum velocities used as an upper bound when reducing the speed due to the proximity to a static obstacles.
Definition at line 142 of file teb_config.h.
| double teb_local_planner::TebConfig::Obstacles::obstacle_proximity_upper_bound |
Distance to a static obstacle for which the velocity should be higher.
Definition at line 144 of file teb_config.h.