config - parameters tuning towards socially-complaint behaviour and…

… reasonable performance [#92]

cfg/HumapPlanner.cfg

@@ -158,8 +158,8 @@ group_traj_social_cp.add("sfm_cp_amplifier_granularity", double_t, 0, "", +2.00,
 ## 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, "-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)
+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_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")
 group_traj_social_bw.add("sfm_bw_amplifier_min",         double_t, 0, "", +0.50, STG_AMP_MIN, STG_AMP_MAX)
@@ -198,10 +198,10 @@ group_cost.add("backward_scale", double_t, 0, "The weight for the backward motio
 group_cost.add("heading_change_smoothness_scale", double_t, 0, "The weight for the cost function that penalizes robot rotational velocity changes", 11.0, 0.0)
 group_cost.add("velocity_smoothness_scale", double_t, 0, "The weight for the cost function that penalizes velocity changes along trajectory", 15.0, 0.0)
 group_cost.add("backward_penalty", double_t, 0, "Penalty (cost) value assigned to trajectory that starts with backward motion", 25.0, 0.0)
-group_cost.add("heading_dir_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that leading towards human center", 10.0, 0.0)
-group_cost.add("personal_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude human personal space", 25.0, 0.0)
-group_cost.add("fformation_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude F-formation space", 30.0, 0.0)
-group_cost.add("passing_speed_scale", double_t, 0, "The weight for the cost function that penalizes robot trajectories that are not compliant with proper speeds of passing people", 1.0, 0.0)
+group_cost.add("heading_dir_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that leading towards human center", 60.0, 0.0)
+group_cost.add("personal_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude human personal space", 50.0, 0.0)
+group_cost.add("fformation_space_scale", double_t, 0, "The weight for the cost function that penalizes trajectories that intrude F-formation space", 40.0, 0.0)
+group_cost.add("passing_speed_scale", double_t, 0, "The weight for the cost function that penalizes robot trajectories that are not compliant with proper speeds of passing people", 3.0, 0.0)
 
 ## Parameters of the cost functions
 group_cost.add("oscillation_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.05, 0.0)