Trajectory related parameters. More...
#include <teb_config.h>
Public Attributes | |
| bool | allow_init_with_backwards_motion |
| If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors) | |
| double | dt_hysteresis |
| Hysteresis for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref. | |
| double | dt_ref |
| Desired temporal resolution of the trajectory (should be in the magniture of the underlying control rate) | |
| bool | exact_arc_length |
| If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations [-> increased cpu time], otherwise the euclidean approximation is used. | |
| int | feasibility_check_no_poses |
| Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval. | |
| double | force_reinit_new_goal_dist |
| Reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting) | |
| bool | global_plan_overwrite_orientation |
| Overwrite orientation of local subgoals provided by the global planner. | |
| double | global_plan_viapoint_sep |
| Min. separation between each two consecutive via-points extracted from the global plan (if negative: disabled) | |
| double | max_global_plan_lookahead_dist |
| Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if <=0: disabled; the length is also bounded by the local costmap size!]. | |
| int | max_samples |
| Maximum number of samples; Warning: if too small the discretization/resolution might not be sufficient for the given robot model or obstacle avoidance does not work anymore. | |
| int | min_samples |
| Minimum number of samples (should be always greater than 2) | |
| bool | publish_feedback |
| Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes) | |
| bool | shrink_horizon_backup |
| Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues. | |
| double | shrink_horizon_min_duration |
| Specify minimum duration for the reduced horizon in case an infeasible trajectory is detected. | |
| double | teb_autosize |
| Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended) | |
| bool | via_points_ordered |
| If true, the planner adheres to the order of via-points in the storage container. | |
Trajectory related parameters.
Definition at line 69 of file teb_config.h.
If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors)
Definition at line 77 of file teb_config.h.
Hysteresis for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref.
Definition at line 73 of file teb_config.h.
Desired temporal resolution of the trajectory (should be in the magniture of the underlying control rate)
Definition at line 72 of file teb_config.h.
If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations [-> increased cpu time], otherwise the euclidean approximation is used.
Definition at line 81 of file teb_config.h.
Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval.
Definition at line 83 of file teb_config.h.
Reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting)
Definition at line 82 of file teb_config.h.
Overwrite orientation of local subgoals provided by the global planner.
Definition at line 76 of file teb_config.h.
Min. separation between each two consecutive via-points extracted from the global plan (if negative: disabled)
Definition at line 78 of file teb_config.h.
Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if <=0: disabled; the length is also bounded by the local costmap size!].
Definition at line 80 of file teb_config.h.
Maximum number of samples; Warning: if too small the discretization/resolution might not be sufficient for the given robot model or obstacle avoidance does not work anymore.
Definition at line 75 of file teb_config.h.
Minimum number of samples (should be always greater than 2)
Definition at line 74 of file teb_config.h.
Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes)
Definition at line 84 of file teb_config.h.
Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues.
Definition at line 85 of file teb_config.h.
Specify minimum duration for the reduced horizon in case an infeasible trajectory is detected.
Definition at line 86 of file teb_config.h.
Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended)
Definition at line 71 of file teb_config.h.
If true, the planner adheres to the order of via-points in the storage container.
Definition at line 79 of file teb_config.h.