Struct HATebConfig::Obstacles

Nested Relationships

This struct is a nested type of Class HATebConfig.

Struct Documentation

struct Obstacles

Obstacle related parameters.

Public Members

double min_obstacle_dist

Minimum desired separation from obstacles.

double inflation_dist

buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)

bool use_nonlinear_obstacle_penalty
double obstacle_cost_mult
double dynamic_obstacle_inflation_dist

Buffer zone around predicted locations of dynamic obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)

bool include_dynamic_obstacles

Specify whether the movement of dynamic obstacles should be predicted by a constant velocity model (this also effects homotopy class planning); If false, all obstacles are considered to be static.

bool include_costmap_obstacles

Specify whether the obstacles in the costmap should be taken into account directly.

double costmap_obstacles_behind_robot_dist

Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters)

int obstacle_poses_affected

The obstacle position is attached to the closest pose on the trajectory to reduce computational effort, but take a number of neighbors into account as well.

bool legacy_obstacle_association

If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only “relevant” obstacles).

double obstacle_association_force_inclusion_factor

The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist.

double obstacle_association_cutoff_factor

See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first.

std::string costmap_converter_plugin

Define a plugin name of the costmap_converter package (costmap cells are converted to points/lines/polygons)

bool costmap_converter_spin_thread

If true, the costmap converter invokes its callback queue in a different thread.

int costmap_converter_rate

The rate that defines how often the costmap_converter plugin processes the current costmap (the value should not be much higher than the costmap update rate)