disable yaw slerp

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Mar 16, 2022 · 6071830 · 6071830
1 parent eab3635
commit 6071830
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -1332,7 +1332,8 @@ ObstacleAvoidancePlanner::generateFineTrajectoryPoints(
 
   // calculate yaw from x and y
   // NOTE: We do not use spline interpolation to yaw in behavior path since the yaw is unstable.
-  fillYawInTrajectoryPoint(interpolated_traj_points);
+  //       Currently this implementation is removed since this calculation is heavy (~20ms)
+  // fillYawInTrajectoryPoint(interpolated_traj_points);
 
   // compensate last pose
   points_utils::compensateLastPose(