Update for MRPT 2.14.3 (new RNAV weight for target heading)

mrpt_reactivenav2d/params/reactive2d_default.ini

@@ -64,15 +64,17 @@ max_deletion_ratio                                = 0.400000             // (Def
 
 
 [CHolonomicFullEval]
-# [0]=Free space
-# [1]=Dist. in sectors
-# [2]=Closer to target (Euclidean)
+# [0]=Collision-free space
+# [1]=Nearnest path point to target (*=1/10 if way blocked by obstacles)
+# [2]=Distance: end of path to target (*=1/10 if way blocked by obstacles)
 # [3]=Hysteresis
-# [4]=clearance along path
-# [5]=like [2] but without being decimated if path obstructed
-# [6]=closeness of k_target
-factorWeights                    = [0.25 , 0.1 , 1  , 0.05 , 0.5, 1, 1 ]
-factorNormalizeOrNot             = [0    , 0   , 0  , 0    , 1  , 1, 0 ]
+# [4]=clearance of nearby paths
+# [5]=Identical to [2], without the *=1/10
+# [6]=Direct distance in PTG trajectories to target
+# [7]=Match final heading with target heading. 1.0=perfect phi aligment, 0.0=180deg error  (Added in MRPT 2.14.3)
+#                                    [0]   [1]   [2]  [3]    [4]  [5]  [6]  [7]
+factorWeights                    = [0.25 , 0.1 , 1  , 0.05 , 0.5,  1,   1,   0.2 ]
+factorNormalizeOrNot             = [0    , 0   , 0  , 0    , 1  ,  1,   0,   0   ]
 
 TOO_CLOSE_OBSTACLE                                = 0.150000             // Directions with collision-free distances below this threshold are not elegible.
 TARGET_SLOW_APPROACHING_DISTANCE                  = 0.100000             // Start to reduce speed when closer than this to target.
@@ -86,9 +88,9 @@ gap_width_ratio_threshold                         = 0.20                 // Rati
 PHASE_COUNT                                       = 3                    // Number of evaluation phases to run (params for each phase below)
 PHASE1_FACTORS                                    = [6]                // Indices of the factors above to be considered in this phase
 PHASE1_THRESHOLD                                  = 0.5                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
-PHASE2_FACTORS                                    = [4]                  // Indices of the factors above to be considered in this phase
+PHASE2_FACTORS                                    = [4 7]                  // Indices of the factors above to be considered in this phase
 PHASE2_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)
-PHASE3_FACTORS                                    = [0 2]                // Indices of the factors above to be considered in this phase
+PHASE3_FACTORS                                    = [0 2 7]                // Indices of the factors above to be considered in this phase
 PHASE3_THRESHOLD                                  = 0.7                  // Phase scores must be above this relative range threshold [0,1] to be considered in next phase (Default:`0.75`)