From fd2369d99031a3246671bc29bbe91d052e51e4f8 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Thu, 4 May 2023 15:21:03 +0900 Subject: [PATCH] refactor(avoidance): remove hard code params in shift line triming process Signed-off-by: satoshi-ota --- .../behavior_path_planner/avoidance/avoidance.param.yaml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index e2918e0e68..b8ef728d27 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -143,3 +143,11 @@ matrix: [2.78, 13.9, # velocity [m/s] 0.50, 1.00] # margin [m] + + shift_line_pipeline: + trim: + quantize_filter_threshold: 0.2 + same_grad_filter_1_threshold: 0.1 + same_grad_filter_2_threshold: 0.2 + same_grad_filter_3_threshold: 0.5 + sharp_shift_filter_threshold: 0.2