fix(freespace_planner): fixed by adding parameters of RRTstar algorit…

…hm (#517) * fix(freespace_planner): add parameters of RRTstar algorithm * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kyoichi Sugahara <[email protected]>
autowarefoundation · Aug 23, 2023 · b4a03f0 · b4a03f0
1 parent 438d692
commit b4a03f0
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/.../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/.../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -37,3 +37,11 @@
       only_behind_solutions: false
       use_back: true
       distance_heuristic_weight: 1.0
+
+    # -- RRT* search Configurations --
+    rrtstar:
+      enable_update: true
+      use_informed_sampling: true
+      max_planning_time: 150.0
+      neighbor_radius: 8.0
+      margin: 0.1