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perf(elastic_band_smoother): increase lateral replan threshold #652

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Oct 24, 2023
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perf(elastic_band_smoother): increase lateral replan threshold #652

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2 changes: 1 addition & 1 deletion ...ario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
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Expand Up @@ -40,7 +40,7 @@
enable: true # if true, only perform smoothing when the input changes significantly
max_path_shape_around_ego_lat_dist: 2.0 # threshold of path shape change around ego [m]
max_path_shape_forward_lon_dist: 100.0 # forward point to check lateral distance difference [m]
max_path_shape_forward_lat_dist: 0.1 # threshold of path shape change around forward point [m]
max_path_shape_forward_lat_dist: 0.2 # threshold of path shape change around forward point [m]
max_ego_moving_dist: 5.0 # threshold of ego's moving distance for replan [m]
# make max_goal_moving_dist long to keep start point fixed for pull over
max_goal_moving_dist: 15.0 # threshold of goal's moving distance for replan [m]
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