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| minimum_shift_pull_out_distance |[m]| double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
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| maximum_curvature |[m]| double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 |
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| Name | Unit | Type | Description | Default value |
| enable_shift_pull_out |[-]| bool | flag whether to enable shift pull out | true |
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| check_shift_path_lane_departure |[-]| bool | flag whether to check if shift path footprints are out of lane | true |
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| allow_check_shift_path_lane_departure_override |[-]| bool | flag to override/cancel lane departure check if the ego vehicle's starting pose is already out of lane | false |
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| shift_pull_out_velocity |[m/s]| double | velocity of shift pull out | 2.0 |
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| pull_out_sampling_num |[-]| int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 |
| minimum_shift_pull_out_distance |[m]| double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 |
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| maximum_curvature |[m]| double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 |
Copy file name to clipboardexpand all lines: planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
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@@ -178,6 +178,21 @@ class StartPlannerModule : public SceneModuleInterface
Copy file name to clipboardexpand all lines: planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp
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