[Rock-dev] [rock] #310: Corridor Servoing Grid Resolution

[rock]

#310: Corridor Servoing Grid Resolution
-------------------------+-----------------------------------
Reporter: rdominguez | Owner: rock-dev-mailing-list
Type: enhancement | Status: new
Priority: normal | Milestone:
Component: base | Keywords: corridor_servoing
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Hello,

I would like to reduce the resolution of the grid that is used in the
Corridor Servoing task. This property is not configurable through the
orogen configuration file. I have tried going through the code and
changing the resolution from 6 to 3 in
planning/vfh_star/src/ElevationGrid.h +58
and in
planning/vfh_star/src/TraversabilityGrid.h +16

It didn't work.
I want to change the resolution so that a larger area around each beam is
presumed to be covered.

Thanks in advance,
Ra?l

[rock]

#310: Corridor Servoing Grid Resolution
-------------------------------+------------------------------------
Reporter: rdominguez | Owner: rock-dev-mailing-list
Type: enhancement | Status: new
Priority: normal | Milestone:
Component: base | Resolution:
Keywords: corridor_servoing |
-------------------------------+------------------------------------

Comment (by rdominguez):

For doubling the size of the Traversaversability Grid, I performed the
following changes:

* in planning/vfh_star/src/Grid.h
Set the GRIDSIZE from 600 to 1200 and the GRIDRESOLUTION from 12 to 24

* in planning/vfh_star/src/TraversabilityMapGenerator.cpp
In line 611 I changed the values passed for the grid parameter in the
function computeSmoothElevationGrid from 600 to 1200 and from 12 to 24

* in planning/nav_graph_search/src/dstar_lite.cpp
In line 292 the parameter for updateTraversability from 12 to 24.

[rock]

#310: Corridor Servoing Grid Resolution
-------------------------------+------------------------------------
Reporter: rdominguez | Owner: rock-dev-mailing-list
Type: enhancement | Status: closed
Priority: normal | Milestone:
Component: base | Resolution: fixed
Keywords: corridor_servoing |
-------------------------------+------------------------------------
Changes (by rdominguez):

* status: new => closed
* resolution: => fixed