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updated maxl documentation to include latest params
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@Divyanshu-Sahu
Divyanshu-Sahu committed Mar 13, 2021
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67 changes: 60 additions & 7 deletions docs/source/config_maxl.rst
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Expand Up @@ -136,23 +136,76 @@ Robot Parameter Description
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| lookahead_point_distance | S.I (m) | Used to find the point in the global path to follow |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| lookahead_factor_val | (Numeric) eg. 0.088 | Controls the senstivity of movement of lookahead goal. Lower the value |
| | | lower the change in the postion of lookahead goal. |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| lookahead_jump_threshold | S.I (m) | If the change in the position of lookahead goal is greater than this |
| | | value, it would be considered a jump (oscillation) |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

10. MaxL Parameters
^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+============================================================================+
| direction_threshold | (Numeric) eg. 120 | Direction threshold( in degrees) on either side of robot wrt relative goal |
| direction_threshold | (Numeric) eg. 120 | The fan size (in degrees) on either side of robot wrt relative goal |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| high_accuracy_multiplier | (Numeric) eg. 0.4 | High accuracy multiplier for reaching the goal (0,1] |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| in_place_rotation_penalty | (Numeric) eg. 0.05 | Scoring parameter. Higher value penalises in place rotation more |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| goal_direction_preference | (Numeric) eg. 0.2 | Scoring parameter. Higher value means controller prefers paths |
| | | oriented towards the goal. |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| vis_pointcloud | true/false | Parameter to enable visualisation of detailed data (pointcloud data) |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| use_odom_velocity | true/false | Parameter to take velocity from odom messages |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

| reverse_enabled | true/false | Parameter to enable reverse motion for the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+
| truncated_fan_angle | (Numeric) eg. 10 | The fan size (in degrees) on either side of robot wrt relative goal when |
| | | there is no obstacle detected by the robot |
+-------------------------------------+------------------------+----------------------------------------------------------------------------+

11. Parameters for Oscillation Detection by Path Index
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+======================================================================================+
| oscillation_senstivity_index | (Numeric) eg. 5 | Controls the senstivity of jump detection. If this value is high, only large changes |
| | | in the value of selected path index are considered an oscillation and vice-versa |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| oscillation_threshold | (Numeric) eg. 10 | Every time an oscillation is detected, the oscillation count is increased by one. If |
| | | this oscillation counr exceeds this value, oscillations are considered true and not |
| | | just an error in detection |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| osc_det_by_score_path | true/false | A flag which gives user the choice to use this method of oscillation detection. If |
| | | false, oscillation detection by this method will stop |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+

12. Parameters for Oscillation Detection by Angular Velocity
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+========================+======================================================================================+
| osc_freq_period | S.I (s) | The interval after which the change in angular velocity direction is compared and |
| | | frequency is calculated |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| osc_freq_threshold | (Numeric) eg. 3.5 | If the frequency of change in angular velocity direction per osc_freq_period is more |
| | | than this value, it is considered an oscillation |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+
| osc_det_by_ang_vel | true/false | A flag which gives user the choice to use this method of oscillation detection. If |
| | | false, oscillation detection by this method will stop |
+-------------------------------------+------------------------+--------------------------------------------------------------------------------------+

13. Scoring Parameters
^^^^^^^^^^^^^^^^^^^^^^^^
+-------------------------------------+--------------------------+--------------------------------------------------------------------------------------+
| Parameter | Units | Description |
+=====================================+==========================+======================================================================================+
| scoring_algo_index | (Numeric) eg. 1 | This parameter decides which scoring algorithm will be used to score paths. |
| | | Currently, we have 4 different scoring algoritms to chose from |
+-------------------------------------+--------------------------+--------------------------------------------------------------------------------------+
| scoring_algo_four_senstivity_factor | (Numeric) eg. 0 | This parameter is used only by scoring algo number four. It controls the amount of |
| | | time for which oscillation mitiagtion will last. The larger the value, the longer |
| | | the oscillation mitigation will work to remove oscillation |
+-------------------------------------+--------------------------+--------------------------------------------------------------------------------------+
| in_place_rotation_penalty | (Numeric) eg. 0.05 | Higher value penalises in place rotation more |
+-------------------------------------+--------------------------+--------------------------------------------------------------------------------------+
| goal_direction_preference | (Numeric) eg. 0.2 | Higher value means controller prefers paths oriented towards the goal |
+-------------------------------------+--------------------------+--------------------------------------------------------------------------------------+

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