From 8fe4e2c01016cc24d907b83ba7b3ccf14706b51e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Thu, 25 Aug 2022 18:37:27 +0200
Subject: [PATCH] Add new weight parameter to config.
---
.../local_planner_config/TimedElasticBands/default.json | 1 +
.../navigation/local_planning/aron/TimedElasticBands.xml | 4 ++++
source/armarx/navigation/local_planning/aron_conversions.cpp | 1 +
3 files changed, 6 insertions(+)
diff --git a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
index 53f1c25e..34d3506a 100644
--- a/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
+++ b/data/armarx_navigation/local_planner_config/TimedElasticBands/default.json
@@ -6,6 +6,7 @@
"pse": {
"pse_costum_obstacle_penalties": true,
"pse_costum_obstacle_penalties_dynamic": true,
+ "weight_costmap": 0.5,
"weight_global_path_position": 0.3,
"weight_global_path_orientation": 0.3,
"lrk_use_alternative_approach": false,
diff --git a/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml b/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
index 352c9213..9d0873c3 100644
--- a/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
+++ b/source/armarx/navigation/local_planning/aron/TimedElasticBands.xml
@@ -14,6 +14,10 @@
<bool />
</ObjectChild>
+ <ObjectChild key='weight_costmap'>
+ <float />
+ </ObjectChild>
+
<ObjectChild key='weight_global_path_position'>
<float />
</ObjectChild>
diff --git a/source/armarx/navigation/local_planning/aron_conversions.cpp b/source/armarx/navigation/local_planning/aron_conversions.cpp
index 0601914b..928c543e 100644
--- a/source/armarx/navigation/local_planning/aron_conversions.cpp
+++ b/source/armarx/navigation/local_planning/aron_conversions.cpp
@@ -29,6 +29,7 @@ namespace armarx::navigation::local_planning
bo.pse.pse_costum_obstacle_penalties = dto.teb_config.pse.pse_costum_obstacle_penalties;
bo.pse.pse_costum_obstacle_penalties_dynamic =
dto.teb_config.pse.pse_costum_obstacle_penalties_dynamic;
+ bo.pse.weight_costmap = dto.teb_config.pse.weight_costmap;
bo.pse.weight_global_path_position = dto.teb_config.pse.weight_global_path_position;
bo.pse.weight_global_path_orientation = dto.teb_config.pse.weight_global_path_orientation;
bo.pse.lrk_use_alternative_approach = dto.teb_config.pse.lrk_use_alternative_approach;
--
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