From f57222794069dc92aeb66374a246216688be3e8a Mon Sep 17 00:00:00 2001 From: Takumi Ito Date: Wed, 29 Jan 2025 16:44:16 -0500 Subject: [PATCH] disable backward clothoid parking (not support yet) Signed-off-by: Takumi Ito --- .../config/goal_planner.param.yaml | 2 +- .../utils/parking_departure/geometric_parallel_parking.cpp | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index af092a29778ca..74af4f11dfa44 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_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/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp index e36ee23e00533..f7556f43171d4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp @@ -119,9 +119,8 @@ std::vector GeometricParallelParking::generatePullOverPaths( const double arc_path_interval = is_forward ? parameters_.forward_parking_path_interval : parameters_.backward_parking_path_interval; std::vector 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(