feat(planning_launch): add option of clipping fixed trajectory (autow…

…arefoundation#580) * feat(planning_launch): add option of clipping fixed trajectory Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * Update obstacle_avoidance_planner.param.yaml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
TomohitoAndo · Nov 29, 2022 · 5e39487 · 5e39487
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commit 5e39487
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/..._driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -39,6 +39,7 @@
       num_fix_points_for_extending: 50 # number of fixing points when extending
       max_dist_for_extending_end_point: 0.0001 # minimum delta dist thres for extending last point [m]
 
+      enable_clipping_fixed_traj: false
       non_fixed_trajectory_length: 5.0 # length of the trajectory merging optimized mpt trajectory to original(not optimized) trajectory
 
     object:  # avoiding object