Struct HATebConfig::Trajectory

Nested Relationships

This struct is a nested type of Class HATebConfig.

Struct Documentation

struct Trajectory

Trajectory related parameters.

Public Members

bool teb_autosize

Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended)

double dt_ref

Desired temporal resolution of the trajectory (should be in the magniture of the underlying control rate)

double dt_hysteresis

Hysteresis for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref.

int min_samples

Minimum number of samples (should be always greater than 2)

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 agent_min_samples

Minimum number of samples for agent’s teb (should be always greater than 2)

bool global_plan_overwrite_orientation

Overwrite orientation of local subgoals provided by the global planner.

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 global_plan_viapoint_sep

Min. separation between each two consecutive via-points extracted from the global plan (if negative: disabled)

bool via_points_ordered

If true, the planner adheres to the order of via-points in the storage container.

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!]

double global_plan_prune_distance

Distance between robot and via_points of global plan which is used for pruning.

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.

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)

double force_reinit_new_goal_angular

Reinitialize the trajectory if a previous goal is updated with an angular difference of more than the specified value in radians (skip hot-starting)

int feasibility_check_no_poses

Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval.

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)

double min_resolution_collision_check_angular

Min angular resolution used during the costmap collision check. If not respected, intermediate samples are added. [rad].

int control_look_ahead_poses

Index of the pose used to extract the velocity command.

double teb_init_skip_dist

How much distance needs to be skipped before calculating the plan.

double visualize_with_time_as_z_axis_scale

Scaling factor for visualizing the trajectory in 3D with time as z-axis.