Uses the shortest distances between obstacles and the robot in order to penalize the feasability of each state. The smaller distances will lead to higher costs values for that state. Collisions will be set to the highest cost.
- class: stomp_moveit/ObstacleDistanceGradient
- class: The class name
- max_distance: Used in calculating the cost as a function of the shortest distance. The cost equals abs(max_distance - d)/max_distance] If the shortest distance is greater than max_distance then the cost is set to zero.
- cost_weight: A weight value multiplied onto to each state cost.
- longest_valid_joint_move: This value is used to check for collisions at intermediate poses between consecutive points in a trajectory. A smaller value could lead to more collision checks during large joint motions.