New settings file

settings_files/settings.yaml

 single_agent_planner: "RRTStar"
 
-prediction_horizon: 5 # seconds
-discretization_step: .5 # seconds 
+prediction_horizon: 2  # seconds
+discretization_step: .2 # seconds 
 
 model_predictive_controller:
-  Q: [20, 20, 0]         # state error cost for a differential drive robot
-  Qf: [30, 30, 0]        # state final error cost for a differential drive robot
+  Q: [45, 45, 0]         # state error cost for a differential drive robot
+  Qf: [25, 25, 0]        # state final error cost for a differential drive robot
   R: [10, 10]             # input cost for a differential drive robot
   P: [10, 10]             # input rate of change cost for a differential drive robot
+  robot_robot_collision_weight: .5
+  obstacle_collision_weight: 0
   print_level: 0
   print_time: 0
   acceptable_tol: 1.0e-4
@@ -22,33 +24,36 @@ multi_robot_traj_opt:
   goal_weight: 5
 
 simulator:
-  dt: .3
-  scaling_factor: 6.0
+  dt: .1
+  scaling_factor: 10.0
 
 environment:
   circle_obstacles: []
   rectangle_obstacles: []
-  x_range: [0, 100]
-  y_range: [0, 100]
+  x_range: [0, 10]
+  y_range: [0, 10]
 
 robot_starts: 
-  - [60, 20, 0]
-  - [65, 80, 0]
+  - [6.0, 2.0, 4.8]
+  - [7.0, 8.0, 2.0]
 
 robot_goals: 
-  - [60, 80, 0]
-  - [65, 20, 0]
+  - [6.5, 8.0, 0]
+  - [7.5, 2.0, 0]
 
 robot_radii:
-  - 5
-  - 5
+  - .5
+  - .5
+  - .5
+  - .5
 
 Roomba:
-  max_speed: 10.0
-  max_acc: 5.0
-  max_d_acc: 3.0
+  max_speed: 50.0
+  max_acc: 30.0
+  max_d_acc: 10.0
   max_steer: 360
   max_d_steer: 180
+  radius: .5
 
 target_v: 1.0
 
@@ -57,16 +62,6 @@ dynamics_models:
   - Roomba
   - Roomba
   - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
-  - Roomba
+