docs(behavior_path_planner): update doc of safety check feature fot start planner #5240
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Signed-off-by: kyoichi-sugahara <[email protected]>
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Codecov ReportAll modified lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #5240 +/- ##
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- Coverage 14.87% 14.85% -0.02%
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Files 1649 1649
Lines 114317 114256 -61
Branches 35403 35373 -30
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- Hits 17001 16978 -23
- Misses 78129 78132 +3
+ Partials 19187 19146 -41
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| | Name | Unit | Type | Description | Default value | | ||
| | :-------------------------- | :---- | :----- | :---------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | | ||
| | enable_geometric_pull_out | [-] | bool | flag whether to enable geometric pull out | true | | ||
| | divide_pull_out_path | [-] | bool | flag whether to divide arc paths. The path is assumed to be divided because the curvature is not continuous. But it requires a stop during the departure. | false | |
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flag whether to divide arc paths. The path is assumed to be divided because the curvature is not continuous.
too many space
| | maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | | ||
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| | 0.07 | | ||
| | maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 | |
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| During backward movement, no safety check is performed. Safety check begins at the point where the backward movement ends. | ||
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will replace the image with rotated footprint one in the future?
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changed in b6a72ab
Signed-off-by: kyoichi-sugahara <[email protected]>
Signed-off-by: kyoichi-sugahara <[email protected]>
kyoichi-sugahara
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autowarefoundation:main
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doc/update_safety_check_feature_start_planner
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Description
update document of safety check feature fot start planner.
I will add other feature in the different PR
Tests performed
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Effects on system behavior
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