<name> .allow_unknown: |
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- Description
Whether to allow traversing/search in unknown space.
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<name> .max_iterations: |
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- Description
Maximum number of search iterations before failing to limit compute time, disabled by -1.
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<name> .max_planning_time: |
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- Description
Maximum planning time in seconds.
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<name> .analytic_expansion_ratio: |
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- Description
SE2 node will attempt to complete an analytic expansion with frequency proportional to this value and the minimum heuristic.
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<name> .analytic_expansion_max_length: |
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- Description
If the length is too far, reject this expansion. This prevents unsafe shortcutting of paths into higher cost areas far out from the goal itself, let search to the work of getting close before the analytic expansion brings it home. This should never be smaller than 4-5x the minimum turning radius being used, or planning times will begin to spike.
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<name> .reverse_penalty: |
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- Description
Heuristic penalty to apply to SE2 node if searching in reverse direction. Only used in allow_reverse_expansion = true .
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<name> .change_penalty: |
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- Description
Heuristic penalty to apply to SE2 node if changing direction (e.g. left to right) in search.
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<name> .non_straight_penalty: |
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- Description
Heuristic penalty to apply to SE2 node if searching in non-straight direction.
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<name> .cost_penalty: |
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- Description
Heuristic penalty to apply to SE2 node for cost at pose. Allows State Lattice to be cost aware.
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<name> .rotation_penalty: |
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- Description
Penalty to apply for rotations in place, if minimum control set contains in-place rotations. This should always be set sufficiently high to weight against in-place rotations unless strictly necessary for obstacle avoidance or there may be frequent discontinuities in the plan where the plan requests the robot to rotate in place to short-cut an otherwise smooth forward-moving path for marginal path distance savings.
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<name> .retrospective_penalty: |
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Type |
Default |
double |
0.015 |
- Description
Heuristic penalty to apply to SE2 node penalty. Causes State Lattice to prefer later maneuvers before earlier ones along the path. Saves search time since earlier (shorter) branches are not expanded until it is necessary. Must be >= 0.0 and <= 1.0. Must be 0.0 to be fully admissible.
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<name> .lattice_filepath: |
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- Description
The filepath to the state lattice minimum control set graph, this will default to a 16 bin, 0.4m turning radius control set located in test/ for basic testing and evaluation.
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<name> .lookup_table_size: |
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- Description
Size of the dubin/reeds-sheep distance window to cache, in meters.
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<name> .cache_obstacle_heuristic: |
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- Description
Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
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<name> .allow_reverse_expansion: |
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- Description
If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot’s orientation (to reverse).
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<name> .smooth_path: |
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- Description
If true, does simple and fast smoothing post-processing to the path from search
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<name> .smoother.max_iterations: |
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- Description
The maximum number of iterations the smoother has to smooth the path, to bound potential computation.
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<name> .smoother.w_smooth: |
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- Description
Weight for smoother to apply to smooth out the data points
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<name> .smoother.w_data: |
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- Description
Weight for smoother to apply to retain original data information
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<name> .smoother.tolerance: |
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Type |
Default |
double |
1e-10 |
- Description
Parameter tolerance change amount to terminate smoothing session
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<name> .smoother.do_refinement: |
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- Description
Performs extra refinement smoothing runs. Essentially, this recursively calls the smoother using the output from the last smoothing cycle to further smooth the path for macro-trends. This typically improves quality especially in the Hybrid-A* planner but can be helpful on the state lattice planner to reduce the “blocky” movements in State Lattice caused by the limited number of headings.
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