You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
210 lines
9.6 KiB
210 lines
9.6 KiB
planner_configs:
|
|
AnytimePathShortening:
|
|
type: geometric::AnytimePathShortening
|
|
shortcut: true # Attempt to shortcut all new solution paths
|
|
hybridize: true # Compute hybrid solution trajectories
|
|
max_hybrid_paths: 24 # Number of hybrid paths generated per iteration
|
|
num_planners: 4 # The number of default planners to use for planning
|
|
planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
|
|
SBL:
|
|
type: geometric::SBL
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
EST:
|
|
type: geometric::EST
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
|
LBKPIECE:
|
|
type: geometric::LBKPIECE
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
|
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
|
BKPIECE:
|
|
type: geometric::BKPIECE
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
|
|
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
|
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
|
KPIECE:
|
|
type: geometric::KPIECE
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
|
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
|
|
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
|
|
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
|
|
RRT:
|
|
type: geometric::RRT
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
|
RRTConnect:
|
|
type: geometric::RRTConnect
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
RRTstar:
|
|
type: geometric::RRTstar
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
|
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
|
|
TRRT:
|
|
type: geometric::TRRT
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
|
|
max_states_failed: 10 # when to start increasing temp. default: 10
|
|
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
|
|
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
|
|
init_temperature: 10e-6 # initial temperature. default: 10e-6
|
|
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
|
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
|
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
|
|
PRM:
|
|
type: geometric::PRM
|
|
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
|
|
PRMstar:
|
|
type: geometric::PRMstar
|
|
FMT:
|
|
type: geometric::FMT
|
|
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
|
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
|
|
nearest_k: 1 # use Knearest strategy. default: 1
|
|
cache_cc: 1 # use collision checking cache. default: 1
|
|
heuristics: 0 # activate cost to go heuristics. default: 0
|
|
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
|
BFMT:
|
|
type: geometric::BFMT
|
|
num_samples: 1000 # number of states that the planner should sample. default: 1000
|
|
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
|
|
nearest_k: 1 # use the Knearest strategy. default: 1
|
|
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
|
|
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
|
|
heuristics: 1 # activates cost to go heuristics. default: 1
|
|
cache_cc: 1 # use the collision checking cache. default: 1
|
|
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
|
|
PDST:
|
|
type: geometric::PDST
|
|
STRIDE:
|
|
type: geometric::STRIDE
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
|
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
|
|
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
|
|
max_degree: 18 # max degree of a node in the GNAT. default: 12
|
|
min_degree: 12 # min degree of a node in the GNAT. default: 12
|
|
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
|
|
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
|
|
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
|
|
BiTRRT:
|
|
type: geometric::BiTRRT
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
|
|
init_temperature: 100 # initial temperature. default: 100
|
|
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
|
|
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
|
|
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
|
|
LBTRRT:
|
|
type: geometric::LBTRRT
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
|
epsilon: 0.4 # optimality approximation factor. default: 0.4
|
|
BiEST:
|
|
type: geometric::BiEST
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
ProjEST:
|
|
type: geometric::ProjEST
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
|
|
LazyPRM:
|
|
type: geometric::LazyPRM
|
|
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
|
|
LazyPRMstar:
|
|
type: geometric::LazyPRMstar
|
|
SPARS:
|
|
type: geometric::SPARS
|
|
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
|
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
|
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
|
max_failures: 1000 # maximum consecutive failure limit. default: 1000
|
|
SPARStwo:
|
|
type: geometric::SPARStwo
|
|
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
|
|
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
|
|
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
|
|
max_failures: 5000 # maximum consecutive failure limit. default: 5000
|
|
stretch_arm:
|
|
default_planner_config: None
|
|
planner_configs:
|
|
- AnytimePathShortening
|
|
- SBL
|
|
- EST
|
|
- LBKPIECE
|
|
- BKPIECE
|
|
- KPIECE
|
|
- RRT
|
|
- RRTConnect
|
|
- RRTstar
|
|
- TRRT
|
|
- PRM
|
|
- PRMstar
|
|
- FMT
|
|
- BFMT
|
|
- PDST
|
|
- STRIDE
|
|
- BiTRRT
|
|
- LBTRRT
|
|
- BiEST
|
|
- ProjEST
|
|
- LazyPRM
|
|
- LazyPRMstar
|
|
- SPARS
|
|
- SPARStwo
|
|
stretch_gripper:
|
|
default_planner_config: ""
|
|
planner_configs:
|
|
- AnytimePathShortening
|
|
- SBL
|
|
- EST
|
|
- LBKPIECE
|
|
- BKPIECE
|
|
- KPIECE
|
|
- RRT
|
|
- RRTConnect
|
|
- RRTstar
|
|
- TRRT
|
|
- PRM
|
|
- PRMstar
|
|
- FMT
|
|
- BFMT
|
|
- PDST
|
|
- STRIDE
|
|
- BiTRRT
|
|
- LBTRRT
|
|
- BiEST
|
|
- ProjEST
|
|
- LazyPRM
|
|
- LazyPRMstar
|
|
- SPARS
|
|
- SPARStwo
|
|
stretch_head:
|
|
default_planner_config: RRTConnect
|
|
planner_configs:
|
|
- AnytimePathShortening
|
|
- SBL
|
|
- EST
|
|
- LBKPIECE
|
|
- BKPIECE
|
|
- KPIECE
|
|
- RRT
|
|
- RRTConnect
|
|
- RRTstar
|
|
- TRRT
|
|
- PRM
|
|
- PRMstar
|
|
- FMT
|
|
- BFMT
|
|
- PDST
|
|
- STRIDE
|
|
- BiTRRT
|
|
- LBTRRT
|
|
- BiEST
|
|
- ProjEST
|
|
- LazyPRM
|
|
- LazyPRMstar
|
|
- SPARS
|
|
- SPARStwo
|