Optimization related parameters. More...

#include <teb_config.h>

Public Attributes
int	no_inner_iterations
	Number of solver iterations called in each outerloop iteration.
int	no_outer_iterations
	Each outerloop iteration automatically resizes the trajectory and invokes the internal optimizer with no_inner_iterations.
bool	optimization_activate
	Activate the optimization.
bool	optimization_verbose
	Print verbose information.
double	penalty_epsilon
	Add a small safety margin to penalty functions for hard-constraint approximations.
double	weight_acc_lim_theta
	Optimization weight for satisfying the maximum allowed angular acceleration.
double	weight_acc_lim_x
	Optimization weight for satisfying the maximum allowed translational acceleration.
double	weight_acc_lim_y
	Optimization weight for satisfying the maximum allowed strafing acceleration (in use only for holonomic robots)
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.
double	weight_dynamic_obstacle
	Optimization weight for satisfying a minimum separation from dynamic obstacles.
double	weight_inflation
	Optimization weight for the inflation penalty (should be small)
double	weight_kinematics_forward_drive
	Optimization weight for forcing the robot to choose only forward directions (positive transl. velocities, only diffdrive robot)
double	weight_kinematics_nh
	Optimization weight for satisfying the non-holonomic kinematics.
double	weight_kinematics_turning_radius
	Optimization weight for enforcing a minimum turning radius (carlike robots)
double	weight_max_vel_theta
	Optimization weight for satisfying the maximum allowed angular velocity.
double	weight_max_vel_x
	Optimization weight for satisfying the maximum allowed translational velocity.
double	weight_max_vel_y
	Optimization weight for satisfying the maximum allowed strafing velocity (in use only for holonomic robots)
double	weight_obstacle
	Optimization weight for satisfying a minimum separation from obstacles.
double	weight_optimaltime
	Optimization weight for contracting the trajectory w.r.t transition time.
double	weight_viapoint
	Optimization weight for minimizing the distance to via-points.

Detailed Description

Optimization related parameters.

Definition at line 130 of file teb_config.h.

Member Data Documentation

int teb_local_planner::TebConfig::Optimization::no_inner_iterations

Number of solver iterations called in each outerloop iteration.

Definition at line 132 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 133 of file teb_config.h.

bool teb_local_planner::TebConfig::Optimization::optimization_activate

Activate the optimization.

Definition at line 135 of file teb_config.h.

bool teb_local_planner::TebConfig::Optimization::optimization_verbose

Print verbose information.

Definition at line 136 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 138 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 145 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 143 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 144 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 155 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 152 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 151 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 147 of file teb_config.h.

double teb_local_planner::TebConfig::Optimization::weight_kinematics_nh

Optimization weight for satisfying the non-holonomic kinematics.