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doc: added some explaination about the ridge layer #91

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amock merged 1 commit into from
Nov 19, 2025
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doc: added some explaination about the ridge layer #91

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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -113,7 +113,7 @@ The following table gives an overview of all currently implemented layer plugins
| **HeightDiffLayer** | `mesh_layers/HeightDiffLayer` | local radius based height differences | ![HeightDiffLayer](docs/images/costlayers/height_diff.jpg?raw=true "Height Diff Layer") |
| **RoughnessLayer** | `mesh_layers/RoughnessLayer` | local radius based normal fluctuation | ![RoughnessLayer](docs/images/costlayers/roughness.jpg?raw=true "Roughness Layer") |
| **SteepnessLayer** | `mesh_layers/SteepnessLayer` | arccos of the normal's z coordinate | ![SteepnessLayer](docs/images/costlayers/steepness.jpg?raw=true "Steepness Layer") |
| **RidgeLayer** | `mesh_layer/RidgeLayer` | local radius based distance along normal | ![RidgeLayer](docs/images/costlayers/ridge.jpg?raw=true "RidgeLayer") |
| **RidgeLayer** | `mesh_layer/RidgeLayer` | local radius based distance along normal. This can be useful to drive along ridge or bed structures in agricultural scenarios (e.g. potatoes, carrots, or onions). Hereby, the upper part of the ridges would have higher costs while the valleys would have low costs. This can be useful to plan vehicle wheel trajectories and only allow driving inside the ridge valleys (and thus not damage crops). | ![RidgeLayer](docs/images/costlayers/ridge.jpg?raw=true "RidgeLayer") |
| **ClearanceLayer** | `mesh_layers/ClearanceLayer` | comparison of robot height and clearance along each vertex normal | ![ClearanceLayer](docs/images/costlayers/clearance.jpg?raw=true "Clearance Layer") |
| **InflationLayer** | `mesh_layers/InflationLayer` | by distance to a lethal vertex | ![InflationLayer](docs/images/costlayers/inflation.jpg?raw=true "Inflation Layer") |
| **BorderLayer** | `mesh_layers/BorderLayer` | give vertices close to the border a certain cost | ![BorderLayer](docs/images/costlayers/border.png?raw=true "Border Layer") |
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