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_sources/configuration/packages/smac/configuring-smac-lattice.rst.txt

@@ -206,6 +206,18 @@ Parameters
   Description
     If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
 
+
+:``<name>``.debug_visualizations:
+
+  ====== =======
+  Type   Default                                                   
+  ------ -------
+  bool   false         
+  ====== =======
+
+  Description
+    Whether to publish expansions on the ``/expansions`` topic as an array of poses and the path's footprints on the ``/planned_footprints`` topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance. Lattice expansions show end-points of primitives, not intermediary steps as seen in dense path outputs.
+
 :``<name>``.smooth_path:
 
   ====== =======

configuration/packages/smac/configuring-smac-lattice.html

@@ -1357,7 +1357,7 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
-<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smooth_path</dt>
+<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.debug_visualizations</dt>
 <dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 46%" />
@@ -1368,6 +1368,26 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 <td><p>Default</p></td>
 </tr>
 <tr class="row-even"><td><p>bool</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Whether to publish expansions on the <code class="docutils literal notranslate"><span class="pre">/expansions</span></code> topic as an array of poses and the path’s footprints on the <code class="docutils literal notranslate"><span class="pre">/planned_footprints</span></code> topic. WARNING: heavy to compute and to display, for debug only as it degrades the performance. Lattice expansions show end-points of primitives, not intermediary steps as seen in dense path outputs.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smooth_path</dt>
+<dd class="field-odd"><table class="docutils align-default">
+<colgroup>
+<col style="width: 46%" />
+<col style="width: 54%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>bool</p></td>
 <td><p>true</p></td>
 </tr>
 </tbody>
@@ -1377,8 +1397,8 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
-<dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.max_iterations</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.max_iterations</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 46%" />
 <col style="width: 54%" />
@@ -1397,8 +1417,8 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
-<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.w_smooth</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.w_smooth</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 46%" />
 <col style="width: 54%" />
@@ -1417,8 +1437,8 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
-<dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.w_data</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.w_data</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 46%" />
 <col style="width: 54%" />
@@ -1437,8 +1457,8 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
-<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.tolerance</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.tolerance</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 46%" />
 <col style="width: 54%" />
@@ -1457,8 +1477,8 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
-<dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.do_refinement</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.do_refinement</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 46%" />
 <col style="width: 54%" />
@@ -1477,8 +1497,8 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
-<dt class="field-even"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.refinement_num</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd"><code class="docutils literal notranslate"><span class="pre">&lt;name&gt;</span></code>.smoother.refinement_num</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />