feat(obstacle_avoidance_planne): enable plan_from_ego by default (#1673)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Aug 29, 2022 · 6d669de · 6d669de
1 parent 4e1ff9b
commit 6d669de
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Showing 3 changed files with 3 additions and 3 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
@@ -58,7 +58,7 @@
       option:
         steer_limit_constraint: true
         fix_points_around_ego: true
-        plan_from_ego: false
+        plan_from_ego: true
         max_plan_from_ego_length: 10.0
         visualize_sampling_num: 1
         enable_manual_warm_start: true

diff --git a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml
@@ -58,7 +58,7 @@
       option:
         steer_limit_constraint: true
         fix_points_around_ego: true
-        plan_from_ego: false
+        plan_from_ego: true
         max_plan_from_ego_length: 10.0
         visualize_sampling_num: 1
         enable_manual_warm_start: true

diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp
@@ -127,7 +127,7 @@ struct ReferencePoint
   //       one is fixing points around ego for stability
   //       second is fixing current ego pose when no velocity for planning from ego pose
   boost::optional<Eigen::Vector2d> fix_kinematic_state = boost::none;
-  bool plan_from_ego = false;
+  bool plan_from_ego = true;
   Eigen::Vector2d optimized_kinematic_state;
   double optimized_input;