# 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
# 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
# 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
# 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