add backend

2025-07-20 12:46:40 +08:00
parent 3a6c6a9a97
commit a9c0a5975c
108 changed files with 576799 additions and 28 deletions
--- a/trajectoryOpt/src/plan_manage/config/planning.yaml
+++ b/trajectoryOpt/src/plan_manage/config/planning.yaml
@@ -0,0 +1,78 @@
+# trajectory Optimizer
+mini_T:                   0.05
+wei_time_:                100.0
+
+kmax:                     1.67 #2.0+0.1 1.5
+kdotmax:                  10000.0
+cons_eps_:                0.1
+
+
+
+vmax:                     2.0
+latAccmax:                1.5
+lonAccmax:                1.5
+accRatemax:               1.5
+phimax: 0.785
+omegamax: 0.35 #0.5-0.02
+
+traj_res:                 8
+past:                     1
+rho:                      1.0
+rho_max:                  1000.0
+gamma:                    1.0
+mem_size:                 256
+g_epsilon:                1.0e-3
+min_step:                 1.0e-32
+delta:                    1.0e-3
+max_iterations:           1000
+amlMaxIter:               100
+
+penaWei:                  1000.0
+esdfWei:                  10000.0
+
+pieceTime:                0.8
+miniS:                    0.1
+# safeMargin:               0.25 #0.15+0.05
+# conpts:                   [[0.15, 0.0], [0.3, -0.00]]
+safeMargin:               0.2 #0.15+0.05
+conpts:                   [[0.15, 0.0], [0.3, -0.00]]
+# 
+
+
+#map
+mapRes:                   0.1
+mapX:                     20.0
+mapY:                     20.0
+expandSize:               0 
+wheel_base:               0.6
+horizon_:                 50.0
+#res res res
+yaw_resolution_:          3.15
+lambda_heu_:              1.0
+steer_res:                0.5
+allocate_num_:            1000000
+# datageneration
+# yaw_resolution_:          0.2
+# steer_res:                0.25
+# allocate_num_:            2000000
+#800000
+#
+# yaw_resolution_:          0.785
+# steer_res:                0.5
+# yaw_resolution_:          1.57
+# steer_res:                0.5
+
+
+#0:48134 1:21376 2:19494 3:5794 4:4041 5:3064
+check_num_:               3
+step_arc:                 0.3
+checkl:                   0.1
+
+max_seach_time:           1000.0
+non_siguav:               0.0
+backW:                    2.0
+useDP:                    true
+isdebug:                  false
+isfixGear:                false
+isVis:                    false
+enable_shot:              true