From d51508d0b94d25c7e16fb614b85f208595e05a83 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Mon, 24 Jan 2022 17:38:18 +0900 Subject: [PATCH] fix: equation spacing Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner_avoidance-design.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/behavior_path_planner_avoidance-design.md b/planning/behavior_path_planner/behavior_path_planner_avoidance-design.md index 442216aefcef6..ed1adff4f6181 100644 --- a/planning/behavior_path_planner/behavior_path_planner_avoidance-design.md +++ b/planning/behavior_path_planner/behavior_path_planner_avoidance-design.md @@ -267,7 +267,9 @@ The shift length is subjected to the following constraints. -$$ \text{shift_length}=\begin{cases}d_{lcsb}+d_{lcm}+\frac{1}{2}(W_{ego})&\text{if}&(d_{lcsb}+d_{lcm}+W_{ego}+d_{rssm})\lt d_{trsd}\\0 &\textrm{if}&\left(d_{lcsb}+d_{lcm}+W_{ego}+d_{rssm}\right)\geq d_{trsd}\end{cases} $$ +$$ +\text{shift_length}=\begin{cases}d_{lcsb}+d_{lcm}+\frac{1}{2}(W_{ego})&\text{if}&(d_{lcsb}+d_{lcm}+W_{ego}+d_{rssm})\lt d_{trsd}\\0 &\textrm{if}&\left(d_{lcsb}+d_{lcm}+W_{ego}+d_{rssm}\right)\geq d_{trsd}\end{cases} +$$ where