feat(obstacle_avoidance_planner): fix can be applied to the first tra…

…jectory point (#476) * update param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * update param Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Sep 15, 2022 · 1d712d0 · 1d712d0
1 parent e9ba154
commit 1d712d0
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -63,6 +63,7 @@
         visualize_sampling_num: 1
         enable_manual_warm_start: true
         enable_warm_start: true # false
+        is_fixed_point_single: false
 
       common:
         num_curvature_sampling_points: 5 # number of sampling points when calculating curvature
@@ -148,3 +149,8 @@
               num_for_calculation: 3
               front_radius_ratio: 1.0
               rear_radius_ratio: 1.0
+
+            bicycle_model:
+              num_for_calculation: 3
+              front_radius_ratio: 1.0
+              rear_radius_ratio: 1.0