From 90c458174930af30a1d9ab9f271cc8a872b32293 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Wed, 27 Oct 2021 18:27:10 +0900 Subject: [PATCH] add smoothing_num parameter (#263) (#301) * add smoothing_num parameter * change param Co-authored-by: tkimura4 --- control_launch/config/mpc_follower/mpc_follower.param.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/control_launch/config/mpc_follower/mpc_follower.param.yaml b/control_launch/config/mpc_follower/mpc_follower.param.yaml index 9aa14101a9e2..e11651495e77 100644 --- a/control_launch/config/mpc_follower/mpc_follower.param.yaml +++ b/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