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

…asonable performance [#92]

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).