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feat(behavior_path_planner): add path resampling interval param #522

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Sep 1, 2023
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feat(behavior_path_planner): add path resampling interval param #522

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4 changes: 3 additions & 1 deletion ...g/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,12 +21,14 @@
rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
path_preprocessing:
max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
expansion:
method: polygon # method used to expand the drivable area. Either 'lanelet' or 'polygon'.
# 'lanelet': add lanelets overlapped by the ego footprints
# 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
avoid_linestring:
types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
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