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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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line distance #88

Closed muratkoc503 closed 1 year ago

muratkoc503 commented 1 year ago

Hello thanks for repository.it's very good. How i adjust line-to-line distance (sweep distance)?

1(1)

rikba commented 1 year ago

Hi there,

there are two ways to change the line distance in the sensor model configuration.

  1. You choose a camera model sensor_model_type: 1 # [0: Line, 1: Frustum]. Then the distance is calculated from the lateral_overlap, lateral_fov, and polygon z-component (height). See also https://github.com/ethz-asl/polygon_coverage_planning/issues/82#issuecomment-1308953913
  2. You choose sensor_model_type: 0 # [0: Line, 1: Frustum]. Then the line distance is only defined by lateral_footprint, e.g., : lateral_footprint: 5.0 # Only for line sensor model. will give 5.0m spacing.