Recovery/backup related parameters. More...
#include <teb_config.h>
Public Attributes | |
| bool | divergence_detection_enable |
| True to enable divergence detection. More... | |
| int | divergence_detection_max_chi_squared |
| Maximum acceptable Mahalanobis distance above which it is assumed that the optimization diverged. More... | |
| 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 218 of file teb_config.h.
| bool teb_local_planner::TebConfig::Recovery::divergence_detection_enable |
True to enable divergence detection.
Definition at line 227 of file teb_config.h.
| int teb_local_planner::TebConfig::Recovery::divergence_detection_max_chi_squared |
Maximum acceptable Mahalanobis distance above which it is assumed that the optimization diverged.
Definition at line 228 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 226 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 224 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 222 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 225 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 223 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 220 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 221 of file teb_config.h.