config - parameters re-re-tuned for socially-complaint behaviour an…

…d reasonable performance [#92]

cfg/HumapPlanner.cfg

@@ -106,7 +106,7 @@ group_traj_gen.add("use_social_trajectory_generator", bool_t, 0, "True enables g
 group_traj_gen.add("equisampled_continued_acceleration", bool_t, 0, "If set to true, the generator will recompute feasible velocities in each step and will restrict the velocities to those that do not overshoot the goal in sim_time. Otherwise, when false, the generator will sample velocities during the first iteration and will not take the goal into account (as in DWA approach). Legacy parameter name (nav. stack) `use_dwa`", False)
 group_traj_gen.add("equisampled_vx", int_t, 0, "How many velocity samples along platform's X axis will be checked", 3, 0, 40)
 group_traj_gen.add("equisampled_vy", int_t, 0, "How many velocity samples along platform's Y axis will be checked", 1, 0, 40)
-group_traj_gen.add("equisampled_vth", int_t, 0, "How many velocity samples around platform's Z axis will be checked", 10, 0, 40)
+group_traj_gen.add("equisampled_vth", int_t, 0, "How many velocity samples around platform's Z axis will be checked", 12, 0, 40)
 group_traj_gen.add("equisampled_min_vel_x", double_t, 0, "Minimum linear velocity that is used by the equisampled velocities generator", 0.10, -0.5, 3.0)
 
 # Trajectory sampling group parameters
@@ -164,9 +164,9 @@ group_traj_social_cp.add("sfm_cp_amplifier_granularity", double_t, 0, "", +2.00,
 ## 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", +1.00, 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", +51.00, STG_AMP_MIN, STG_AMP_MAX)
-group_traj_social_aw.add("sfm_aw_amplifier_granularity", double_t, 0, "", +50.00, STG_GRN_MIN, STG_GRN_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", +5.00, 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", +75.00, STG_AMP_MIN, STG_AMP_MAX)
+group_traj_social_aw.add("sfm_aw_amplifier_granularity", double_t, 0, "", +70.00, 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")
 group_traj_social_bw.add("sfm_bw_amplifier_min",         double_t, 0, "", +0.50, STG_AMP_MIN, STG_AMP_MAX)