config - parameters retuned for socially-complaint behaviour and re…

…asonable performance [#92]

- reduced the `equisampled_vth` back to 10 as 4% of control loops violated the maximum time for a 4 Hz controller

cfg/HumapPlanner.cfg

@@ -107,7 +107,7 @@ 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`", True)
 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", 12, 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_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