add smoothing_num parameter (autowarefoundation#263) (autowarefoundat…

…ion#301)

* add smoothing_num parameter

* change param

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

control_launch/config/mpc_follower/mpc_follower.param.yaml

@@ -8,9 +8,10 @@
     admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
-    enable_path_smoothing: false   # flag for path smoothing
-    path_filter_moving_ave_num: 25 # param of moving average filter for path smoothing
-    curvature_smoothing_num: 15    # point-to-point index distance used in curvature calculation : curvature is calculated from three points p(i-num), p(i), p(i+num)
+    enable_path_smoothing: false            # flag for path smoothing
+    path_filter_moving_ave_num: 25          # param of moving average filter for path smoothing
+    curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
+    curvature_smoothing_num_traj: 15        # point-to-point index distance used in curvature calculation (for trajectory): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- mpc optimization --
     qpoases_max_iter: 500                        # max iteration number for quadratic programming