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consider adding SlowMovementCostFunction #108

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rayvburn opened this issue Aug 30, 2023 · 5 comments
Closed

consider adding SlowMovementCostFunction #108

rayvburn opened this issue Aug 30, 2023 · 5 comments
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expedite Required for the planner article question Further information is requested

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@rayvburn
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The aim of this cost function is to keep linear speed close to the maximum allowable (defined by the kinematic constraint)
@rayvburn rayvburn added question Further information is requested expedite Required for the planner article labels Aug 30, 2023
rayvburn added a commit that referenced this issue Aug 30, 2023
@rayvburn
config - added scale param for SlowTranslation cost function [#108]
9f5c2d8
rayvburn added a commit that referenced this issue Aug 30, 2023
@rayvburn
planner - added SlowTranslation cost function [#108]
3a87c90
@rayvburn
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Added to the non-main branch, see https://github.com/rayvburn/hubero_local_planner/tree/planning/feature-slow-translation-costfun

@rayvburn
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rayvburn commented Aug 30, 2023 •
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  • Also, slow_translation_costs_(), can be deleted from init list of the planner class.
 STR %6.1f "
// ...
slow_translation_costs_.getScale() * slow_translation_costs_.scoreTrajectory(traj_copy),

rayvburn added a commit that referenced this issue Aug 30, 2023
@rayvburn
planner - added SlowTranslation cost function [#108]
0d05ad8
rayvburn added a commit that referenced this issue Aug 30, 2023
@rayvburn
planner - added SlowTranslation cost function [#108]
f59f904
@rayvburn
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rayvburn commented Sep 6, 2023 •
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This will not be merged

@rayvburn rayvburn closed this as completed Sep 6, 2023
@rayvburn
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It may be useful in some situations. Consider renaming that to UnsaturatedTranslationCostFunction

rayvburn added a commit that referenced this issue Sep 26, 2023
@rayvburn
config - added params for UnsaturatedTranslation cost function [#108
4118fd9 
]
rayvburn added a commit that referenced this issue Sep 26, 2023
@rayvburn
planner - added UnsaturatedTranslation cost function [#108]
93fade8
@rayvburn
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Imported to the main devel branch with a default scale set to 0.0. The scale might be later changed in #92

rayvburn added a commit that referenced this issue Dec 29, 2023
@rayvburn
config - added params for UnsaturatedTranslation cost function [#108
6cb16d0 
]
rayvburn added a commit that referenced this issue Dec 29, 2023
@rayvburn
planner - added UnsaturatedTranslation cost function [#108]
7f7a9b7
rayvburn added a commit that referenced this issue Jan 2, 2024
@rayvburn
config - added params for UnsaturatedTranslation cost function [#108
487b49f 
]
rayvburn added a commit that referenced this issue Jan 2, 2024
@rayvburn
planner - added UnsaturatedTranslation cost function [#108]
2ba3252
rayvburn added a commit that referenced this issue Jan 2, 2024
@rayvburn
config - added params for UnsaturatedTranslation cost function [#108
020d761 
]
rayvburn added a commit that referenced this issue Jan 2, 2024
@rayvburn
planner - added UnsaturatedTranslation cost function [#108]
472459e
rayvburn added a commit that referenced this issue Jan 15, 2024
@rayvburn
config - added params for UnsaturatedTranslation cost function [#108
4b3c9af 
]
rayvburn added a commit that referenced this issue Jan 15, 2024
@rayvburn
planner - added UnsaturatedTranslation cost function [#108]
c2067e7
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