F config - parameters tuned for socially-complaint behaviour and re…

…asonable performance [#92]

cfg/HuberoPlanner.cfg

@@ -156,9 +156,10 @@ group_traj_social_cp.add("sfm_cp_amplifier_granularity", double_t, 0, "", +2.00,
 ## 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. Remember that this won't affect trajectories when only dynamic objects
 ## are nearby.
+## Slightly performance-affecting, but also a good choice is a triplet of (min: +0.50, max: +4.50, gran.: +2.00).
 group_traj_social_aw = group_traj_social.add_group("Aw", type="hide")
 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 with a granularity of 1.0 is also a reasonable pair", +4.50, STG_AMP_MIN, STG_AMP_MAX)
+group_traj_social_aw.add("sfm_aw_amplifier_max",         double_t, 0, "+2.50 with a granularity of 1.0 is also a reasonable pair", +2.50, STG_AMP_MIN, STG_AMP_MAX)
 group_traj_social_aw.add("sfm_aw_amplifier_granularity", double_t, 0, "", +2.00, STG_GRN_MIN, STG_GRN_MAX)
 ## Bw: effective range is 0.0 - 4.0 (visible at a granularity up to 1.0).
 group_traj_social_bw = group_traj_social.add_group("Bw", type="hide")