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ethz-asl / polygon_coverage_planning

Coverage planning in general polygons with holes.
GNU General Public License v3.0
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What is wall distance parameter? #85

Closed PhilipAmadasun closed 1 year ago

PhilipAmadasun commented 1 year ago

What does the "wall distance" parameter signify? How close the robot can be to obstacles?

rikba commented 1 year ago

The wall distance parameter will offset the initial polygon map. So it will make walls appear closer and obstacles larger, such that the robot will stay at a distance. However, this functionality has not been tested rigorously as far as I remember.