From 1de62846520b30ba389292392398ce8516fbf2ef Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Fri, 22 Sep 2023 18:43:17 +0200 Subject: [PATCH] `config` - parameters tuning towards socially-complaint behaviour and reasonable performance [#92] --- cfg/HuberoPlanner.cfg | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/cfg/HuberoPlanner.cfg b/cfg/HuberoPlanner.cfg index 41bf8c90..c26a7fec 100755 --- a/cfg/HuberoPlanner.cfg +++ b/cfg/HuberoPlanner.cfg @@ -84,7 +84,7 @@ group_param_eqn_stddev.add("relaxation_time_stddev", double_t, 0, "Standard devi # Fuzzy Inference System group parameters group_fis = gen.add_group("FIS", type="tab") -group_fis.add("force_factor", double_t, 0, "Factor to multiply resultant human action force with", 30.0, 0.0, 100.0) +group_fis.add("force_factor", double_t, 0, "Factor to multiply resultant human action force with", 100.0, 0.0, 500.0) group_fis.add("human_action_range", double_t, 0, "Distance at which any human action force fade completely", 8.0, 0.0, 10.0) fov_enum = gen.enum([gen.const("FisFovGaussian", int_t, 0, "Compute a value of the Gaussian in the normalized angle domain"), gen.const("FisFovLinear", int_t, 1, "Objects within FOV range are considered as fully visible, linear decrease of the factor value towards +PI and -PI"), @@ -154,9 +154,10 @@ group_traj_social_cp.add("sfm_cp_amplifier_max", double_t, 0, "", +1.00, group_traj_social_cp.add("sfm_cp_amplifier_granularity", double_t, 0, "", +2.00, STG_GRN_MIN, STG_GRN_MAX) # Parameters related to the interaction forces with static objects ## Aw: amplyfing the parameter has a significant impact on generated trajectories for the range -## of -10.0 - +65.0 with a granularity of 5.0. +## of -10.0 - +65.0 with a granularity of 5.0. Remember that this won't affect trajectories when only dynamic objects +## are nearby. group_traj_social_aw = group_traj_social.add_group("Aw", type="hide") -group_traj_social_aw.add("sfm_aw_amplifier_min", double_t, 0, "", +0.50, STG_AMP_MIN, STG_AMP_MAX) +group_traj_social_aw.add("sfm_aw_amplifier_min", double_t, 0, "-1.0 might also be tried if performance is not an issue", +0.50, STG_AMP_MIN, STG_AMP_MAX) group_traj_social_aw.add("sfm_aw_amplifier_max", double_t, 0, "", +2.50, STG_AMP_MIN, STG_AMP_MAX) group_traj_social_aw.add("sfm_aw_amplifier_granularity", double_t, 0, "", +1.00, STG_GRN_MIN, STG_GRN_MAX) ## Bw: effective range is 0.0 - 4.0 (visible at a granularity up to 1.0).