; ------------------------------------------------------------------------
; Example configuration file: defines a set of example PTGs
; See documentation for mrpt::nav::CParameterizedTrajectoryGenerator
; File format as expected by mrpt::nav::PlannerRRT_SE2_TPS
; ------------------------------------------------------------------------

[PTG_CONFIG]
MAX_REFERENCE_DISTANCE  = 10.0
GRID_RESOLUTION         = 0.05      # Look-up-table cell size or resolution (in meters)

; 2D robot shape for collision checks:
robot_shape = [-0.2 0.2 0.2 -0.2; -0.1 -0.1 0.1 0.1]

; PTGs: (Refer to papers for details)
;------------------------------------------------------------------------------
; Types:
; 1 - Circular arcs \n"
; 2 - alpha - A, Trajectories with asymptotical heading
; 3 - C|C,S, R = vmax/wmax, Trajectories to move backward and then forward
; 4 - C|C,s, like PTG 3, but if t > threshold -> v = w = 0
; 5 - CS, Trajectories with a minimum turning radius
; 6 - alpha - SP, Trajectories built upon a spiral segment

PTG_COUNT      = 2

PTG0_Type      = 1
PTG0_nAlfas    = 121
PTG0_v_max_mps = 2.0
PTG0_w_max_gps = 120
PTG0_K         = 1.0

PTG1_Type        = 2
PTG1_nAlfas      = 121
PTG1_v_max_mps   = 2.0
PTG1_w_max_gps   = 120
PTG1_cte_a0v_deg = 57
PTG1_cte_a0w_deg = 57



