desc

dwa_local_planner/cfg/DWAPlanner.cfg

@@ -25,7 +25,7 @@ gen.add("oscillation_reset_angle", double_t, 0, "The angle the robot must turn b
 
 gen.add("forward_point_distance", double_t, 0, "The distance from the center point of the robot to place an additional scoring point, in meters", 0.325)
 
-gen.add("scaling_discount_factor", double_t, 0, "Discount factor to apply to the scaling of the footprint for future points in the trajectory", 1.0, 0.0, 1.0)
+gen.add("scaling_discount_factor", double_t, 0, "Discount factor to apply to the scaling of the footprint in the last point in the trajectory. Discount factor for other footprints is automatically computed", 1.0, 0.0, 1.0)
 gen.add("scaling_speed", double_t, 0, "The absolute value of the velocity at which to start scaling the robot's footprint, in m/s", 0.25, 0)
 gen.add("max_forward_inflation", double_t, 0, "The maximum length the robot's footprint is extended forward by", 0.2, 0)
 gen.add("max_sideward_inflation", double_t, 0, "The maximum length the robot's footprint is extended sidewards by", 0.2, 0)