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chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length #1223

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Jul 4, 2022
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chore(obstacle_avoidance_planner): add description of max_plan_from_ego_length #1223

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e5ff46b
chore(obstacle_avoidance_planner): add description of max_plan_from_e…
kosuke55 Jul 4, 2022
1b5a8e1
fix typo
kosuke55 Jul 4, 2022
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3 changes: 2 additions & 1 deletion ..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
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Expand Up @@ -58,7 +58,8 @@
option:
steer_limit_constraint: true
fix_points_around_ego: true
# plan_from_ego: false
plan_from_ego: false
max_plan_from_ego_length: 10.0
visualize_sampling_num: 1
enable_manual_warm_start: true
enable_warm_start: true # false
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1 change: 1 addition & 0 deletions planning/obstacle_avoidance_planner/README.md
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Expand Up @@ -776,6 +776,7 @@ $N_{circle}$ is the number of circles to check collision.
- `option.is_showing_calculation_time` enables showing each calculation time for functions and total calculation time on the terminal.
- `option.is_stopping_if_outside_drivable_area` enables stopping just before the generated trajectory point will be outside the drivable area.
- `mpt.option.plan_from_ego` enables planning from the ego pose when the ego's velocity is zero.
- `mpt.option.max_plan_from_ego_length` maximum length threshold to plan from ego. it is enabled when the length of trajectory is shorter than this value.
- `mpt.option.two_step_soft_constraint` enables two step of soft constraints for collision free
- `mpt.option.soft_clearance_from_road` and `mpt.option.soft_second_clearance_from_road` are the weight.

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