From ff8e5bfc5298d05aa77aa5d947f956dbde55de4a Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Sat, 11 Nov 2023 13:37:39 +0000 Subject: [PATCH] style(pre-commit): autofix --- control/pid_longitudinal_controller/README.md | 32 +++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/control/pid_longitudinal_controller/README.md b/control/pid_longitudinal_controller/README.md index a7f6f2c70949a..ea2b5931f5151 100644 --- a/control/pid_longitudinal_controller/README.md +++ b/control/pid_longitudinal_controller/README.md @@ -160,22 +160,22 @@ Then, the velocity can be calculated by providing the current error and time ste The default parameters defined in `param/lateral_controller_defaults.param.yaml` are adjusted to the AutonomouStuff Lexus RX 450h for under 40 km/h driving. -| Name | Type | Description | Default value | -| :------------------------------------------ | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| delay_compensation_time | double | delay for longitudinal control [s] | 0.17 | -| enable_smooth_stop | bool | flag to enable transition to STOPPING | true | -| enable_overshoot_emergency | bool | flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`. | true | -| enable_large_tracking_error_emergency | bool | flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose. | true | -| enable_slope_compensation | bool | flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle. See `use_trajectory_for_pitch_calculation`. | true | -| enable_brake_keeping_before_stop | bool | flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping](#brake-keeping). | false | -| max_acc | double | max value of output acceleration [m/s^2] | 3.0 | -| min_acc | double | min value of output acceleration [m/s^2] | -5.0 | -| max_jerk | double | max value of jerk of output acceleration [m/s^3] | 2.0 | -| min_jerk | double | min value of jerk of output acceleration [m/s^3] | -5.0 | -| use_trajectory_for_pitch_calculation | bool | If true, the slope is estimated from trajectory z-level. Otherwise the pitch angle of the ego pose is used. | false | -| lpf_pitch_gain | double | gain of low-pass filter for pitch estimation | 0.95 | -| max_pitch_rad | double | max value of estimated pitch [rad] | 0.1 | -| min_pitch_rad | double | min value of estimated pitch [rad] | -0.1 | +| Name | Type | Description | Default value | +| :------------------------------------ | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| delay_compensation_time | double | delay for longitudinal control [s] | 0.17 | +| enable_smooth_stop | bool | flag to enable transition to STOPPING | true | +| enable_overshoot_emergency | bool | flag to enable transition to EMERGENCY when the ego is over the stop line with a certain distance. See `emergency_state_overshoot_stop_dist`. | true | +| enable_large_tracking_error_emergency | bool | flag to enable transition to EMERGENCY when the closest trajectory point search is failed due to a large deviation between trajectory and ego pose. | true | +| enable_slope_compensation | bool | flag to modify output acceleration for slope compensation. The source of the slope angle can be selected from ego-pose or trajectory angle. See `use_trajectory_for_pitch_calculation`. | true | +| enable_brake_keeping_before_stop | bool | flag to keep a certain acceleration during DRIVE state before the ego stops. See [Brake keeping](#brake-keeping). | false | +| max_acc | double | max value of output acceleration [m/s^2] | 3.0 | +| min_acc | double | min value of output acceleration [m/s^2] | -5.0 | +| max_jerk | double | max value of jerk of output acceleration [m/s^3] | 2.0 | +| min_jerk | double | min value of jerk of output acceleration [m/s^3] | -5.0 | +| use_trajectory_for_pitch_calculation | bool | If true, the slope is estimated from trajectory z-level. Otherwise the pitch angle of the ego pose is used. | false | +| lpf_pitch_gain | double | gain of low-pass filter for pitch estimation | 0.95 | +| max_pitch_rad | double | max value of estimated pitch [rad] | 0.1 | +| min_pitch_rad | double | min value of estimated pitch [rad] | -0.1 | ### State transition