Struct HATebConfig::Hateb

Nested Relationships

This struct is a nested type of Class HATebConfig.

Struct Documentation

struct Hateb

Public Members

int planning_mode

Mode of planning (autonomous vs human-aware)

bool use_agent_robot_safety_c

Enable agent-robot safety constraints.

bool use_agent_agent_safety_c

Enable agent-agent safety constraints.

bool use_agent_robot_rel_vel_c

Enable relative velocity constraints.

bool add_invisible_humans

Include invisible humans in planning.

bool use_agent_robot_visi_c

Enable visibility constraints.

bool use_agent_elastic_vel

Enable elastic velocity constraints for agents.

double pose_prediction_reset_time

Time after which pose prediction is reset.

double min_agent_robot_dist

Minimum distance that should be maintained agent and robot.

double min_agent_agent_dist

Minimum distance that should be maintained between agents.

double rel_vel_cost_threshold

Threshold value for Relative Velocity Constraint (lower means higher reaction)

double invisible_human_threshold

Threshold value for Invisible Humans Constraint (higher means higher reaction)

double visibility_cost_threshold

Threshold value for Visibility Constraint (lower means higher reaction)