Struct HATebConfig::Recovery

Nested Relationships

This struct is a nested type of Class HATebConfig.

Struct Documentation

struct Recovery

Recovery/backup related parameters.

Public Members

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.

bool oscillation_recovery

Try to detect and resolve oscillations between multiple solutions in the same equivalence class (robot frequently switches between left/right/forward/backwards)

double oscillation_v_eps

Threshold for the average normalized linear velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected.

double oscillation_omega_eps

Threshold for the average normalized angular velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected.

double oscillation_recovery_min_duration

Minumum duration [sec] for which the recovery mode is activated after an oscillation is detected.

double oscillation_filter_duration

Filter length/duration [sec] for the detection of oscillations.