config - parameters re-re-tuned for socially-complaint behaviour an…

…d reasonable performance [#92]

cfg/HumapPlanner.cfg

@@ -206,9 +206,9 @@ 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", 75.0, 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", 100.0, 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", 100.0, 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", 50.0, 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", 50.0, 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", 15.0, 0.0)
 
 ## Parameters of the cost functions