# 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