From 15526b4ce608cfa13cfdffe4f02ca00e52236093 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT Date: Tue, 9 May 2023 13:30:39 +0900 Subject: [PATCH] Add params for automatically calculate sampled lateral positions Signed-off-by: Maxime CLEMENT --- .../motion_planning/path_sampler/path_sampler.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml index c2ca261c4a..b50602b8e6 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml @@ -25,8 +25,9 @@ resolution: 0.5 # [m] target distance between sampled path points previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) target_lengths: [10.0, 20.0] # [m] target lengths of the sampled paths + nb_target_lateral_positions: 2 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-0.5, 0.0, 0.5] # manual values that are only used if nb_target_lateral_positions = 0 frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial - target_lateral_positions: [-0.5, 0.0, 0.5] target_lateral_velocities: [-0.1, 0.0, 0.1] target_lateral_accelerations: [0.0] bezier: