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fixed wrongrosparam namespaces for some grid parameters

master
Christoph Rösmann 2020-03-04 12:32:22 +01:00
parent 290df44472
commit f45dfee6df
1 changed files with 3 additions and 3 deletions
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6
mpc_local_planner/src/controller.cpp
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@ -290,11 +290,11 @@ corbo::DiscretizationGridInterface::Ptr Controller::configureGrid(const ros::Nod
grid->setXfFixed(xf_fixed_eigen); grid->setXfFixed(xf_fixed_eigen);
bool warm_start = true; bool warm_start = true;
nh.param("warm_start", warm_start, warm_start); nh.param("grid/warm_start", warm_start, warm_start);
grid->setWarmStart(warm_start); grid->setWarmStart(warm_start);
std::string collocation_method = "forward_differences"; std::string collocation_method = "forward_differences";
nh.param("collocation_method", collocation_method, collocation_method); nh.param("grid/collocation_method", collocation_method, collocation_method);
if (collocation_method == "forward_differences") if (collocation_method == "forward_differences")
{ {
@ -314,7 +314,7 @@ corbo::DiscretizationGridInterface::Ptr Controller::configureGrid(const ros::Nod
} }
std::string cost_integration_method = "left_sum"; std::string cost_integration_method = "left_sum";
nh.param("cost_integration_method", cost_integration_method, cost_integration_method); nh.param("grid/cost_integration_method", cost_integration_method, cost_integration_method);
if (cost_integration_method == "left_sum") if (cost_integration_method == "left_sum")
{ {