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fix: fix parameter names of motion_velocity_smoother (tier4#1376)
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* fix: fix parameter names of motion_velocity_smoother

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

* fix indent

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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@tkimura4 @boyali
tkimura4 authored and boyali committed Oct 3, 2022
1 parent 492168c commit 3b2c922
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Showing 3 changed files with 15 additions and 15 deletions.
12 changes: 6 additions & 6 deletions ...fig/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
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# resampling parameters for optimization
max_trajectory_length: 200.0 # max trajectory length for resampling [m]
min_trajectory_length: 150.0 # min trajectory length for resampling [m]
resample_time: 5.0 # resample total time for dense sampling [s]
dense_dt: 0.1 # resample time interval for dense sampling [s]
resample_time: 5.0 # resample total time for dense sampling [s]
dense_resample_dt: 0.1 # resample time interval for dense sampling [s]
dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m]
sparse_dt: 0.5 # resample time interval for sparse sampling [s]
sparse_resample_dt: 0.5 # resample time interval for sparse sampling [s]
sparse_min_interval_distance: 4.0 # minimum points-interval length for sparse sampling [m]

# resampling parameters for post process
post_max_trajectory_length: 300.0 # max trajectory length for resampling [m]
post_min_trajectory_length: 30.0 # min trajectory length for resampling [m]
post_resample_time: 10.0 # resample total time for dense sampling [s]
post_dense_dt: 0.1 # resample time interval for dense sampling [s]
post_resample_time: 10.0 # resample total time for dense sampling [s]
post_dense_resample_dt: 0.1 # resample time interval for dense sampling [s]
post_dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m]
post_sparse_dt: 0.1 # resample time interval for sparse sampling [s]
post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s]
post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m]

# system
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8 changes: 4 additions & 4 deletions planning/motion_velocity_smoother/README.ja.md
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| `max_trajectory_length` | `double` | Max trajectory length for resampling [m] | 200.0 |
| `min_trajectory_length` | `double` | Min trajectory length for resampling [m] | 30.0 |
| `resample_time` | `double` | Resample total time [s] | 10.0 |
| `dense_dt` | `double` | resample time interval for dense sampling [s] | 0.1 |
| `dense_resample_dt` | `double` | resample time interval for dense sampling [s] | 0.1 |
| `dense_min_interval_distance` | `double` | minimum points-interval length for dense sampling [m] | 0.1 |
| `sparse_dt` | `double` | resample time interval for sparse sampling [s] | 0.5 |
| `sparse_resample_dt` | `double` | resample time interval for sparse sampling [s] | 0.5 |
| `sparse_min_interval_distance` | `double` | minimum points-interval length for sparse sampling [m] | 4.0 |

### Resampling parameters for post process
Expand All @@ -176,9 +176,9 @@
| `post_max_trajectory_length` | `double` | max trajectory length for resampling [m] | 300.0 |
| `post_min_trajectory_length` | `double` | min trajectory length for resampling [m] | 30.0 |
| `post_resample_time` | `double` | resample total time for dense sampling [s] | 10.0 |
| `post_dense_dt` | `double` | resample time interval for dense sampling [s] | 0.1 |
| `post_dense_resample_dt` | `double` | resample time interval for dense sampling [s] | 0.1 |
| `post_dense_min_interval_distance` | `double` | minimum points-interval length for dense sampling [m] | 0.1 |
| `post_sparse_dt` | `double` | resample time interval for sparse sampling [s] | 0.1 |
| `post_sparse_resample_dt` | `double` | resample time interval for sparse sampling [s] | 0.1 |
| `post_sparse_min_interval_distance` | `double` | minimum points-interval length for sparse sampling [m] | 1.0 |

### Weights for optimization
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10 changes: 5 additions & 5 deletions planning/motion_velocity_smoother/config/default_motion_velocity_smoother.param.yaml
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Expand Up @@ -33,18 +33,18 @@
max_trajectory_length: 200.0 # max trajectory length for resampling [m]
min_trajectory_length: 150.0 # min trajectory length for resampling [m]
resample_time: 5.0 # resample total time for dense sampling [s]
dense_dt: 0.1 # resample time interval for dense sampling [s]
dense_resample_dt: 0.1 # resample time interval for dense sampling [s]
dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m]
sparse_dt: 0.5 # resample time interval for sparse sampling [s]
sparse_resample_dt: 0.5 # resample time interval for sparse sampling [s]
sparse_min_interval_distance: 4.0 # minimum points-interval length for sparse sampling [m]

# resampling parameters for post process
post_max_trajectory_length: 300.0 # max trajectory length for resampling [m]
post_min_trajectory_length: 30.0 # min trajectory length for resampling [m]
post_min_trajectory_length: 30.0 # min trajectory length for resampling [m]
post_resample_time: 10.0 # resample total time for dense sampling [s]
post_dense_dt: 0.1 # resample time interval for dense sampling [s]
post_dense_resample_dt: 0.1 # resample time interval for dense sampling [s]
post_dense_min_interval_distance: 0.1 # minimum points-interval length for dense sampling [m]
post_sparse_dt: 0.1 # resample time interval for sparse sampling [s]
post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s]
post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m]

# system
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