Remove unused parameters

- Remove k_int
- Remove k_diff
- Remove tolerance_timeout

cfg/EBandPlanner.cfg

@@ -34,7 +34,6 @@ gen.add("min_vel_lin", double_t, 0, "Minimum linear velocity", 0.1, 0.0)
 gen.add("min_vel_th", double_t, 0, "Minimum angular velocity", 0.0, 0.0)
 gen.add("min_in_place_vel_th", double_t, 0, "Minimum in-place angular velocity", 0.0, 0.0)
 gen.add("in_place_trans_vel", double_t, 0, "Minimum in place linear velocity", 0.0, 0.0)
-gen.add("tolerance_timeout", double_t, 0, "Tolerance timeout (unused)", 0.5, 0.0)
 gen.add("k_prop", double_t, 0, "Proportional gain of the PID controller", 4.0, 0.0)
 gen.add("k_damp", double_t, 0, "Damping gain of the PID controller", 3.5, 0.0)
 gen.add("Ctrl_Rate", double_t, 0, "Control rate", 10.0, 0.0)
@@ -44,8 +43,6 @@ gen.add("max_translational_acceleration", double_t, 0, "Maximum linear accelerat
 gen.add("max_rotational_acceleration", double_t, 0, "Maximum angular acceleration", 1.5, 0.0)
 gen.add("rotation_correction_threshold", double_t, 0, "Rotation correction threshold", 0.5, 0.0)
 gen.add("differential_drive", bool_t, 0, "Denotes whether to use the differential drive hack", True)
-gen.add("k_int", double_t, 0, "Internal gain? (unused)", 0.005, 0.0)
-gen.add("k_diff", double_t, 0, "Differential gain? (unused)", -0.005, 0.0)
 gen.add("bubble_velocity_multiplier", double_t, 0, "Multiplier of bubble radius", 2.0, 0.0)
 gen.add("rotation_threshold_multiplier", double_t, 0, "Multiplier of rotation threshold", 1.0, 0.0)
 gen.add("disallow_hysteresis", bool_t, 0, "Determines whether to try getting closer to the goal, in case of going past the tolerance", False)

include/eband_local_planner/eband_trajectory_controller.h

@@ -138,12 +138,12 @@ namespace eband_local_planner{
 
       // parameters
       bool differential_drive_hack_;
-      double k_p_, k_nu_, k_int_, k_diff_, ctrl_freq_;
+      double k_p_, k_nu_, ctrl_freq_;
       double acc_max_, virt_mass_;
       double max_vel_lin_, max_vel_th_, min_vel_lin_, min_vel_th_;
       double min_in_place_vel_th_;
       double in_place_trans_vel_;
-      double tolerance_trans_, tolerance_rot_, tolerance_timeout_;
+      double tolerance_trans_, tolerance_rot_;
       double acc_max_trans_, acc_max_rot_;
       double rotation_correction_threshold_; // We'll do rotation correction if we're at least this far from the goal
 

src/eband_trajectory_controller.cpp

@@ -112,7 +112,6 @@ namespace eband_local_planner{
     in_place_trans_vel_ = config.in_place_trans_vel;
     tolerance_trans_ = config.xy_goal_tolerance;
     tolerance_rot_ = config.yaw_goal_tolerance;
-    tolerance_timeout_ = config.tolerance_timeout;
     k_p_ = config.k_prop;
     k_nu_ = config.k_damp;
     ctrl_freq_ = config.Ctrl_Rate;
@@ -124,8 +123,6 @@ namespace eband_local_planner{
 
     // diffferential drive parameters
     differential_drive_hack_ = config.differential_drive;
-    k_int_ = config.k_int;
-    k_diff_ = config.k_diff;
     bubble_velocity_multiplier_ = config.bubble_velocity_multiplier;
     rotation_threshold_multiplier_ = config.rotation_threshold_multiplier;
     disallow_hysteresis_ = config.disallow_hysteresis;