Public Attributes | List of all members
teb_local_planner::TebConfig::HomotopyClasses Struct Reference

#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). More...
 
bool enable_multithreading
 Activate multiple threading for planning multiple trajectories in parallel. More...
 
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). More...
 
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. More...
 
int max_number_classes
 Specify the maximum number of allowed alternative homotopy classes (limits computational effort) More...
 
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]. More...
 
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). More...
 
double roadmap_graph_area_length_scale
 The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal! More...
 
double roadmap_graph_area_width
 < Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off. More...
 
int roadmap_graph_no_samples
 
bool selection_alternative_time_cost
 If true, time cost is replaced by the total transition time. More...
 
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). More...
 
double selection_obst_cost_scale
 Extra scaling of obstacle cost terms just for selecting the 'best' candidate. More...
 
double selection_prefer_initial_plan
 Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan. More...
 
double selection_viapoint_cost_scale
 Extra scaling of via-point cost terms just for selecting the 'best' candidate. More...
 
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. More...
 
double switching_blocking_period
 Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed. More...
 
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. More...
 
bool visualize_hc_graph
 Visualize the graph that is created for exploring new homotopy classes. More...
 
double visualize_with_time_as_z_axis_scale
 If this value is bigger than 0, the trajectory and obstacles are visualized in 3d using the time as the z-axis scaled by this value. Most useful for dynamic obstacles. More...
 

Detailed Description

Definition at line 163 of file teb_config.h.

Member Data Documentation

bool teb_local_planner::TebConfig::HomotopyClasses::enable_homotopy_class_planning

Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once).

Definition at line 165 of file teb_config.h.

bool teb_local_planner::TebConfig::HomotopyClasses::enable_multithreading

Activate multiple threading for planning multiple trajectories in parallel.

Definition at line 166 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::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).

Definition at line 179 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::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.

Definition at line 180 of file teb_config.h.

int teb_local_planner::TebConfig::HomotopyClasses::max_number_classes

Specify the maximum number of allowed alternative homotopy classes (limits computational effort)

Definition at line 168 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::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].

Definition at line 183 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::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).

Definition at line 182 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::roadmap_graph_area_length_scale

The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal!

Definition at line 178 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::roadmap_graph_area_width

< 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 177 of file teb_config.h.

int teb_local_planner::TebConfig::HomotopyClasses::roadmap_graph_no_samples

Definition at line 176 of file teb_config.h.

bool teb_local_planner::TebConfig::HomotopyClasses::selection_alternative_time_cost

If true, time cost is replaced by the total transition time.

Definition at line 173 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::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).

Definition at line 169 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::selection_obst_cost_scale

Extra scaling of obstacle cost terms just for selecting the 'best' candidate.

Definition at line 171 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::selection_prefer_initial_plan

Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan.

Definition at line 170 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::selection_viapoint_cost_scale

Extra scaling of via-point cost terms just for selecting the 'best' candidate.

Definition at line 172 of file teb_config.h.

bool teb_local_planner::TebConfig::HomotopyClasses::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.

Definition at line 167 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::switching_blocking_period

Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed.

Definition at line 174 of file teb_config.h.

bool teb_local_planner::TebConfig::HomotopyClasses::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.

Definition at line 185 of file teb_config.h.

bool teb_local_planner::TebConfig::HomotopyClasses::visualize_hc_graph

Visualize the graph that is created for exploring new homotopy classes.

Definition at line 187 of file teb_config.h.

double teb_local_planner::TebConfig::HomotopyClasses::visualize_with_time_as_z_axis_scale

If this value is bigger than 0, the trajectory and obstacles are visualized in 3d using the time as the z-axis scaled by this value. Most useful for dynamic obstacles.

Definition at line 188 of file teb_config.h.


The documentation for this struct was generated from the following file:


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Wed Jun 5 2019 19:25:10