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feat: add parameters for the feature "cosider-current-ego-pose"
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Signed-off-by: Yuki Takagi <[email protected]>
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yuki-takagi-66 committed Sep 14, 2023
1 parent 9877b91 commit 9915068
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Expand Up @@ -102,6 +102,13 @@
successive_num_to_entry_slow_down_condition: 5
successive_num_to_exit_slow_down_condition: 5

# consider the current ego pose (it is not the nearest pose on the reference trajectory)
# Both the lateral error and the yaw error are assumed to decrease to zero by the time duration "time_to_convergence"
# Both decreasing rates against the time are constant.
consider_current_pose:
enable_to_consider_current_pose: true
time_to_convergence: 1.5 #[s]

cruise:
pid_based_planner:
use_velocity_limit_based_planner: true
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