From a0906d00234b847cda118ef831dffd32f8f74108 Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Sat, 28 May 2022 02:22:58 +0200 Subject: [PATCH] [FIXUP] [#29, #71] trajectory generation parameters overhaul - switched to usage of amplifiers for raw parameters of the motion model instead of multiplying resultant model components --- cfg/HuberoPlanner.cfg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cfg/HuberoPlanner.cfg b/cfg/HuberoPlanner.cfg index 66fe1ad8..1e20b654 100755 --- a/cfg/HuberoPlanner.cfg +++ b/cfg/HuberoPlanner.cfg @@ -104,10 +104,10 @@ group_generator_cp.add("sfm_cp_amplifier_granularity", double_t, 0, "", 1.0, 0.0 group_generator_aw = group_traj.add_group("Aw", type="hide") group_generator_aw.add("sfm_aw_amplifier_min", double_t, 0, "", -1.0, -300.0, +300.0) group_generator_aw.add("sfm_aw_amplifier_max", double_t, 0, "", +1.0, -300.0, +300.0) -group_generator_aw.add("sfm_aw_amplifier_granularity", double_t, 0, "", 0.25,0.0, +300.0) +group_generator_aw.add("sfm_aw_amplifier_granularity", double_t, 0, "", 0.1, 0.0, +300.0) group_generator_bw = group_traj.add_group("Bw", type="hide") group_generator_bw.add("sfm_bw_amplifier_min", double_t, 0, "", 1.0, -300.0, +300.0) -group_generator_bw.add("sfm_bw_amplifier_max", double_t, 0, "", 1.0, -300.0, +300.0) +group_generator_bw.add("sfm_bw_amplifier_max", double_t, 0, "", 2.0, -300.0, +300.0) group_generator_bw.add("sfm_bw_amplifier_granularity", double_t, 0, "", 1.0, 0.0, +300.0) group_generator_as = group_traj.add_group("As", type="hide") group_generator_as.add("fis_as_amplifier_min", double_t, 0, "", 1.0, -300.0, +300.0)