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docs(behavior_path_planner, gnss_poser): fix dead link #2965

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Mar 1, 2023
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docs(behavior_path_planner, gnss_poser): fix dead link #2965

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docs(behavior_path_planner): fix dead link
satoshi-ota Feb 28, 2023
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docs(gnss_poser): remove link
satoshi-ota Mar 1, 2023
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/README.md
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Expand Up @@ -167,7 +167,7 @@ If there are multiple avoidance targets and the lateral distances of these are c

The path generation is computed in Frenet coordinates. The shift length profile for avoidance is generated by four segmental constant jerk polynomials, and added to the original path. Since the lateral jerk can be approximately seen as a steering maneuver, this calculation yields a result similar to a Clothoid curve.

For more detail, see [behavior-path-planner-path-generation](./behavior_path_planner_path_generation.md).
For more detail, see [behavior-path-planner-path-generation](./behavior_path_planner_path_generation_design.md).

<!-- <p align="center"> <img src="./image/path_shifter.png" width="1000"/> </p> -->

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/behavior_path_planner_path_generation_design.md
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@@ -1,6 +1,6 @@
# Path Generation design

This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/include/behavior_path_planner/scene_module/utils/path_shifter.hpp).
This document explains how the path is generated for lane change and avoidance, etc. The implementation can be found in [path_shifter.hpp](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/include/behavior_path_planner/util/path_shifter/path_shifter.hpp).

## Overview

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16 changes: 8 additions & 8 deletions sensing/gnss_poser/README.md
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Expand Up @@ -27,14 +27,14 @@ The `gnss_poser` is a node that subscribes gnss sensing messages and calculates

### Core Parameters

| Name | Type | Default Value | Description |
| ------------------- | ------ | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------ |
| `base_frame` | string | "base_link" | frame id |
| `gnss_frame` | string | "gnss" | frame id |
| `gnss_base_frame` | string | "gnss_base_link" | frame id |
| `map_frame` | string | "map" | frame id |
| `coordinate_system` | int | "4" | coordinate system enumeration; 0: UTM, 1: MGRS, 2: Plane, 3: WGS84 Local Coordinate System, 4: UTM Local Coordinate System |
| `plane_zone` | int | 9 | identification number of the plane rectangular coordinate systems. [click here for more details](https://www.gsi.go.jp/LAW/heimencho.html) |
| Name | Type | Default Value | Description |
| ------------------- | ------ | ---------------- | -------------------------------------------------------------------------------------------------------------------------- |
| `base_frame` | string | "base_link" | frame id |
| `gnss_frame` | string | "gnss" | frame id |
| `gnss_base_frame` | string | "gnss_base_link" | frame id |
| `map_frame` | string | "map" | frame id |
| `coordinate_system` | int | "4" | coordinate system enumeration; 0: UTM, 1: MGRS, 2: Plane, 3: WGS84 Local Coordinate System, 4: UTM Local Coordinate System |
| `plane_zone` | int | 9 | identification number of the plane rectangular coordinate systems. |

## Assumptions / Known limits

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