feat(trajectory_follower): extend mpc trajectory for terminal yaw (au…

…towarefoundation#611) * feat(trajectory_follower): extend mpc trajectory for terminal yaw Signed-off-by: kosuke55 <[email protected]> * rename to extend_trajectory_for_end_yaw_control Signed-off-by: kosuke55 <[email protected]> * Update control_launch/config/trajectory_follower/mpc_follower.param.yaml Signed-off-by: kosuke55 <[email protected]>
TomohitoAndo · Dec 15, 2022 · 85d0c88 · 85d0c88
1 parent 8e597da
commit 85d0c88
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
@@ -12,6 +12,9 @@
     curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
+    # -- trajectory extending --
+    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)
     mpc_prediction_horizon: 50                   # prediction horizon step