#include <teb_config.h>
Public Attributes | |
| bool | enable_homotopy_class_planning |
| Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once). | |
| bool | enable_multithreading |
| Activate multiple threading for planning multiple trajectories in parallel. | |
| 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). | |
| 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. | |
| int | max_number_classes |
| Specify the maximum number of allowed alternative homotopy classes (limits computational effort) | |
| 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]. | |
| 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). | |
| double | roadmap_graph_area_width |
| < Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off. | |
| int | roadmap_graph_no_samples |
| bool | selection_alternative_time_cost |
| If true, time cost is replaced by the total transition time. | |
| 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). | |
| double | selection_obst_cost_scale |
| Extra scaling of obstacle cost terms just for selecting the 'best' candidate. | |
| double | selection_viapoint_cost_scale |
| Extra scaling of via-point cost terms just for selecting the 'best' candidate. | |
| 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. | |
| 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. | |
| bool | visualize_hc_graph |
| Visualize the graph that is created for exploring new homotopy classes. | |
Definition at line 146 of file teb_config.h.
Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once).
Definition at line 148 of file teb_config.h.
Activate multiple threading for planning multiple trajectories in parallel.
Definition at line 149 of file teb_config.h.
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 159 of file teb_config.h.
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 160 of file teb_config.h.
Specify the maximum number of allowed alternative homotopy classes (limits computational effort)
Definition at line 151 of file teb_config.h.
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 163 of file teb_config.h.
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 162 of file teb_config.h.
< 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 158 of file teb_config.h.
Definition at line 157 of file teb_config.h.
If true, time cost is replaced by the total transition time.
Definition at line 155 of file teb_config.h.
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 152 of file teb_config.h.
Extra scaling of obstacle cost terms just for selecting the 'best' candidate.
Definition at line 153 of file teb_config.h.
Extra scaling of via-point cost terms just for selecting the 'best' candidate.
Definition at line 154 of file teb_config.h.
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 150 of file teb_config.h.
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 165 of file teb_config.h.
Visualize the graph that is created for exploring new homotopy classes.
Definition at line 167 of file teb_config.h.