feat: remove admissible_{position/yaw}_error from trajectory_follower

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Dec 17, 2024 · 89a4cec · 89a4cec
1 parent b185fc4
commit 89a4cec
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -3,8 +3,6 @@
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
-    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
-    admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
     use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory
 
     # -- path smoothing --