From 607183089c1002f7b0a710da446e0f60021f9e9b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 16 Mar 2022 17:28:26 +0900 Subject: [PATCH] disable yaw slerp Signed-off-by: Takayuki Murooka --- planning/obstacle_avoidance_planner/src/node.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp index 22c0cf08316dc..22a80edf62ebb 100644 --- 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(