+ # The weighting for how much the controller should attempt to avoid obstacles, default: 0.01
+ occdist_scale: 0.02
+
+ # Whether to score based on the robot's heading to the path or its distance from the path, default: false
+ heading_scoring: true
+
+ # How far to look ahead in time in seconds along the simulated trajectory when using heading scoring, default: 0.1
+ heading_scoring_timestep: 0.3
+