Legacy Inflation Layer Parameters

Warning

This layer has been deprecated in favor of the refactored Inflation Layer, which offers significantly improved performance (up to 11.5× faster with OpenMP enabled). Consider migrating to the new implementation.

This layer places an exponential decay functions around obstacles to increase cost to traverse near collision. It also places a lethal cost around obstacles within the robot's fully inscribed radius - even if a robot is non-circular for optimized first-order collision checking.

<inflation layer> is the corresponding plugin name selected for this type.

`<inflation layer>.enabled`

Type: bool Default: true: Whether it is enabled.

`<inflation layer>.inflation_radius`

Type: double Default: 0.55: Radius to inflate costmap around lethal obstacles.

`<inflation layer>.cost_scaling_factor`

Type: double Default: 10.0: Exponential decay factor across inflation radius.

`<inflation layer>.inflate_unknown`

Type: bool Default: false: Whether to inflate unknown cells as if lethal.

`<inflation layer>.inflate_around_unknown`

Type: bool Default: false: Whether to inflate unknown cells.