pnf-setup-iros06-a.pnf

# object A can interfere with robot, but B cannot

##riskmap              spike 0.05 4
##perform_convolution  false
##static_buffer_factor 0.2
##static_buffer_degree 2

riskmap              sigma 0.95 1.5
perform_convolution  true
static_buffer_factor 0.5
static_buffer_degree 3

mgrid     4.0   3.0    0.05
robot     0.5   1.5   0.3   0.3
goal      3.5   1.5   0.3

# upper wall does not obstruct object A
# (interesting effect if object radius is bigger than robot radius...)
object 1  1.5   2.5   0.3   0.5
wall      0.0   2.0   1.0   2.0
wall      2.0   2.0   4.0   2.0

# lower wall obstructs object B
object 2  2.5   0.5   0.6   0.2
wall      0.0   1.0   2.0   1.0
wall      3.0   1.0   4.0   1.0