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feat(obstacle_avoidance_planner): replan when forward path shape chan…
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…ges (#309)

* feat(obstacle_avoidance_planner): replan when forward path shape changes

Signed-off-by: Takayuki Murooka <[email protected]>

* update

Signed-off-by: Takayuki Murooka <[email protected]>

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Signed-off-by: Takayuki Murooka <[email protected]>
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takayuki5168 authored Apr 23, 2023
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# replanning & trimming trajectory param outside algorithm
replan:
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_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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