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trajectory_tracker: remove unused parameters #274

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Jan 21, 2019
Merged

trajectory_tracker: remove unused parameters #274

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00b36ac
Remove distance_angle_factor parameter
ykoga-kyutech Jan 21, 2019
14bfdb1
Remove switchback_dist parameter
ykoga-kyutech Jan 21, 2019
1827ab4
Remove k_dcel parameter
ykoga-kyutech Jan 21, 2019
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1 change: 0 additions & 1 deletion neonavigation_launch/config/navigate.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,6 @@ spur:
k_ang: 3.0
k_avel: 4.0
dist_lim: 0.5
distance_angle_factor: 0.2
goal_tolerance_dist: 0.05
goal_tolerance_ang: 0.05
stop_tolerance_dist: 0.04
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1 change: 0 additions & 1 deletion planner_cspace/test/test/actionlib_common_rostest.test
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Expand Up @@ -33,7 +33,6 @@
<param name="hz" value="30.0" />
<param name="dist_lim" value="0.5" />

<param name="distance_angle_factor" value="0.2" />
<param name="rotate_ang" value="0.2" />

<param name="goal_tolerance_dist" value="0.05" />
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1 change: 0 additions & 1 deletion planner_cspace/test/test/navigation_compat_rostest.test
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Expand Up @@ -43,7 +43,6 @@
<param name="hz" value="30.0" />
<param name="dist_lim" value="0.5" />

<param name="distance_angle_factor" value="0.2" />
<param name="rotate_ang" value="0.2" />

<param name="goal_tolerance_dist" value="0.05" />
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1 change: 0 additions & 1 deletion planner_cspace/test/test/navigation_rostest.test
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Expand Up @@ -34,7 +34,6 @@
<param name="hz" value="30.0" />
<param name="dist_lim" value="0.5" />

<param name="distance_angle_factor" value="0.2" />
<param name="rotate_ang" value="0.2" />

<param name="goal_tolerance_dist" value="0.05" />
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3 changes: 0 additions & 3 deletions trajectory_tracker/README.md
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Expand Up @@ -36,7 +36,6 @@ trajectory_tracker node controls vehicle velocity to follow given path.
* "k_dist" (double, default: 1.0)
* "k_ang" (double, default: 1.0)
* "k_avel" (double, default: 1.0)
* "k_dcel" (double, default: 0.2)
* "dist_lim" (double, default: 0.5)
* "dist_stop" (double, default: 2.0)
* "rotate_ang" (?, default: M_PI / 4)
Expand All @@ -49,8 +48,6 @@ trajectory_tracker node controls vehicle velocity to follow given path.
* "angacc_toc_factor" (double, default: 0.9)
> decrease max_angacc by this factor in time optimal control to reduce vibration due to control delay
* "path_step" (int, default: 1)
* "distance_angle_factor" (double, default: 0.0)
* "switchback_dist" (double, default: 0.3)
* "goal_tolerance_dist" (double, default: 0.2)
* "goal_tolerance_ang" (double, default: 0.1)
* "stop_tolerance_dist" (double, default: 0.1)
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6 changes: 0 additions & 6 deletions trajectory_tracker/src/trajectory_tracker.cpp
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Expand Up @@ -93,10 +93,7 @@ class TrackerNode
double acc_toc_[2];
trajectory_tracker::VelAccLimitter v_lim_;
trajectory_tracker::VelAccLimitter w_lim_;
double dec_;
double rotate_ang_;
double ang_factor_;
double sw_dist_;
double goal_tolerance_dist_;
double goal_tolerance_ang_;
double stop_tolerance_dist_;
Expand Down Expand Up @@ -148,7 +145,6 @@ TrackerNode::TrackerNode()
pnh_.param("k_dist", k_[0], 1.0);
pnh_.param("k_ang", k_[1], 1.0);
pnh_.param("k_avel", k_[2], 1.0);
pnh_.param("k_dcel", dec_, 0.2);
pnh_.param("dist_lim", d_lim_, 0.5);
pnh_.param("dist_stop", d_stop_, 2.0);
pnh_.param("rotate_ang", rotate_ang_, M_PI / 4);
Expand All @@ -162,8 +158,6 @@ TrackerNode::TrackerNode()
acc_toc_[0] = acc_[0] * acc_toc_factor[0];
acc_toc_[1] = acc_[1] * acc_toc_factor[1];
pnh_.param("path_step", path_step_, 1);
pnh_.param("distance_angle_factor", ang_factor_, 0.0);
pnh_.param("switchback_dist", sw_dist_, 0.3);
pnh_.param("goal_tolerance_dist", goal_tolerance_dist_, 0.2);
pnh_.param("goal_tolerance_ang", goal_tolerance_ang_, 0.1);
pnh_.param("stop_tolerance_dist", stop_tolerance_dist_, 0.1);
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