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Signed-off-by: navigation2-ci <[email protected]>
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navigation2-ci committed Mar 7, 2024
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36 changes: 18 additions & 18 deletions _sources/configuration/packages/configuring-mppic.rst.txt
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Expand Up @@ -941,7 +941,7 @@ Example
time_step: 3
AckermannConstraints:
min_turning_r: 0.2
critics: ["ConstraintCritic", "ObstaclesCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
ConstraintCritic:
enabled: true
cost_power: 1
Expand All @@ -961,25 +961,25 @@ Example
cost_power: 1
cost_weight: 5.0
threshold_to_consider: 0.5
ObstaclesCritic:
enabled: true
cost_power: 1
repulsion_weight: 1.5
critical_weight: 20.0
consider_footprint: false
collision_cost: 10000.0
collision_margin_distance: 0.1
near_goal_distance: 0.5
inflation_radius: 0.55 # (only in Humble)
cost_scaling_factor: 10.0 # (only in Humble)
# CostCritic:
# ObstaclesCritic:
# enabled: true
# cost_power: 1
# cost_weight: 3.81
# critical_cost: 300.0
# consider_footprint: true
# collision_cost: 1000000.0
# near_goal_distance: 1.0
# repulsion_weight: 1.5
# critical_weight: 20.0
# consider_footprint: false
# collision_cost: 10000.0
# collision_margin_distance: 0.1
# near_goal_distance: 0.5
# inflation_radius: 0.55 # (only in Humble)
# cost_scaling_factor: 10.0 # (only in Humble)
CostCritic:
enabled: true
cost_power: 1
cost_weight: 3.81
critical_cost: 300.0
consider_footprint: true
collision_cost: 1000000.0
near_goal_distance: 1.0
PathAlignCritic:
enabled: true
cost_power: 1
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36 changes: 18 additions & 18 deletions configuration/packages/configuring-mppic.html
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Expand Up @@ -2647,7 +2647,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
<span class="w"> </span><span class="nt">time_step</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">3</span>
<span class="w"> </span><span class="nt">AckermannConstraints</span><span class="p">:</span>
<span class="w"> </span><span class="nt">min_turning_r</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.2</span>
<span class="w"> </span><span class="nt">critics</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;ConstraintCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;ObstaclesCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;GoalCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;GoalAngleCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PathAlignCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PathFollowCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PathAngleCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PreferForwardCritic&quot;</span><span class="p p-Indicator">]</span>
<span class="w"> </span><span class="nt">critics</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;ConstraintCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;CostCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;GoalCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;GoalAngleCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PathAlignCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PathFollowCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PathAngleCritic&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PreferForwardCritic&quot;</span><span class="p p-Indicator">]</span>
<span class="w"> </span><span class="nt">ConstraintCritic</span><span class="p">:</span>
<span class="w"> </span><span class="nt">enabled</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">true</span>
<span class="w"> </span><span class="nt">cost_power</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1</span>
Expand All @@ -2667,25 +2667,25 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
<span class="w"> </span><span class="nt">cost_power</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1</span>
<span class="w"> </span><span class="nt">cost_weight</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
<span class="w"> </span><span class="nt">threshold_to_consider</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.5</span>
<span class="w"> </span><span class="nt">ObstaclesCritic</span><span class="p">:</span>
<span class="w"> </span><span class="nt">enabled</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">true</span>
<span class="w"> </span><span class="nt">cost_power</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1</span>
<span class="w"> </span><span class="nt">repulsion_weight</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.5</span>
<span class="w"> </span><span class="nt">critical_weight</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">20.0</span>
<span class="w"> </span><span class="nt">consider_footprint</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">false</span>
<span class="w"> </span><span class="nt">collision_cost</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">10000.0</span>
<span class="w"> </span><span class="nt">collision_margin_distance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.1</span>
<span class="w"> </span><span class="nt">near_goal_distance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.5</span>
<span class="w"> </span><span class="nt">inflation_radius</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.55</span><span class="w"> </span><span class="c1"># (only in Humble)</span>
<span class="w"> </span><span class="nt">cost_scaling_factor</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">10.0</span><span class="w"> </span><span class="c1"># (only in Humble)</span>
<span class="w"> </span><span class="c1"># CostCritic:</span>
<span class="w"> </span><span class="c1"># ObstaclesCritic:</span>
<span class="w"> </span><span class="c1"># enabled: true</span>
<span class="w"> </span><span class="c1"># cost_power: 1</span>
<span class="w"> </span><span class="c1"># cost_weight: 3.81</span>
<span class="w"> </span><span class="c1"># critical_cost: 300.0</span>
<span class="w"> </span><span class="c1"># consider_footprint: true</span>
<span class="w"> </span><span class="c1"># collision_cost: 1000000.0</span>
<span class="w"> </span><span class="c1"># near_goal_distance: 1.0</span>
<span class="w"> </span><span class="c1"># repulsion_weight: 1.5</span>
<span class="w"> </span><span class="c1"># critical_weight: 20.0</span>
<span class="w"> </span><span class="c1"># consider_footprint: false</span>
<span class="w"> </span><span class="c1"># collision_cost: 10000.0</span>
<span class="w"> </span><span class="c1"># collision_margin_distance: 0.1</span>
<span class="w"> </span><span class="c1"># near_goal_distance: 0.5</span>
<span class="w"> </span><span class="c1"># inflation_radius: 0.55 # (only in Humble)</span>
<span class="w"> </span><span class="c1"># cost_scaling_factor: 10.0 # (only in Humble)</span>
<span class="w"> </span><span class="nt">CostCritic</span><span class="p">:</span>
<span class="w"> </span><span class="nt">enabled</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">true</span>
<span class="w"> </span><span class="nt">cost_power</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1</span>
<span class="w"> </span><span class="nt">cost_weight</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">3.81</span>
<span class="w"> </span><span class="nt">critical_cost</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">300.0</span>
<span class="w"> </span><span class="nt">consider_footprint</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">true</span>
<span class="w"> </span><span class="nt">collision_cost</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1000000.0</span>
<span class="w"> </span><span class="nt">near_goal_distance</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1.0</span>
<span class="w"> </span><span class="nt">PathAlignCritic</span><span class="p">:</span>
<span class="w"> </span><span class="nt">enabled</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">true</span>
<span class="w"> </span><span class="nt">cost_power</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">1</span>
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