disable backward clothoid parking (not support yet)

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>
autowarefoundation · Jan 29, 2025 · f572227 · f572227
1 parent 69e1271
commit f572227
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/...or_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/...or_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml
@@ -92,7 +92,7 @@
             backward_parking_path_interval: 1.0
             backward_parking_max_steer_angle: 0.4  # 22.9deg
             backward_parking_steer_rate_lim: 0.35
-            backward_parking_use_clothoid: true
+            backward_parking_use_clothoid: false # Not supported yet
 
         # freespace parking
         freespace_parking:

diff --git a/...e_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/...e_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
@@ -119,9 +119,8 @@ std::vector<PathWithLaneId> GeometricParallelParking::generatePullOverPaths(
   const double arc_path_interval = is_forward ? parameters_.forward_parking_path_interval
                                               : parameters_.backward_parking_path_interval;
   std::vector<PathWithLaneId> arc_paths;
-  if (
-    is_forward ? parameters_.forward_parking_use_clothoid
-               : parameters_.backward_parking_use_clothoid) {
+  if (is_forward && parameters_.forward_parking_use_clothoid) {  // clothoid parking only supports
+                                                                 // forward for now
     const double L_min =
       is_forward
         ? std::abs(