planner - PathCrossingDetector's frontal detections stddev update…

…d on parameter update
rayvburn · Jan 20, 2024 · d4b5b10 · d4b5b10
1 parent 7b161e4
commit d4b5b10
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/humap_planner.cpp b/src/humap_planner.cpp
@@ -208,7 +208,8 @@ void HumapPlanner::reconfigure(HumapConfigConstPtr cfg) {
 		cfg_->getGeneral()->person_model_radius,
 		robot_model_->getInscribedRadius(),
 		std::max(cfg_->getCost()->occdist_separation, 0.025),
-		cfg_->getPlannerBehaviors()->path_crossing_confidence_threshold
+		cfg_->getPlannerBehaviors()->path_crossing_confidence_threshold,
+		cfg_->getPlannerBehaviors()->path_crossing_front_stddev
 	);
 
 	// keep N sec of history (buffer length not parameterized)