From 0e0f71c412154e84139f4333ab9ffa2cf8999f78 Mon Sep 17 00:00:00 2001
From: Junichiro Sugihara <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Thu, 21 Nov 2024 22:44:22 +0900
Subject: [PATCH] [Ninja][Config] Add parameters related to trajectory
 tracking.

---
 robots/ninja/config/NavigationConfig.yaml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/robots/ninja/config/NavigationConfig.yaml b/robots/ninja/config/NavigationConfig.yaml
index bc666c477..1495b59f4 100644
--- a/robots/ninja/config/NavigationConfig.yaml
+++ b/robots/ninja/config/NavigationConfig.yaml
@@ -45,3 +45,9 @@ navigation:
   morphing_vel: 0.04
   joint_process_func: 2 # 0 -> CONSTANT, 1 -> FRAC, 2 -> EXP
   free_joint_flag: false
+
+  # trajectory
+  trajectory_min_du: 2.0
+  trajectory_mean_yaw_rate: 0.6
+  enable_latch_yaw_trajectory: false
+  trajectory_mean_vel: 0.5