67 lines
1.6 KiB
YAML
67 lines
1.6 KiB
YAML
# trajectory Optimizer
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mini_T: 0.05
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wei_time_: 100.0
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#wheelbase = 0.5
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kmax: 1.67 #2.0+0.1 1.5
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kdotmax: 1.0
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cons_eps_: 0.1
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vmax: 2.0
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latAccmax: 1.5
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lonAccmax: 1.5
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accRatemax: 1.5
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phimax: 0.785
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omegamax: 0.35 #0.4-0.05
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traj_res: 8
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past: 0
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rho: 1.0
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rho_max: 1000.0
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gamma: 1.0
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mem_size: 256
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g_epsilon: 1.0e-8
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min_step: 1.0e-32
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delta: 1.0e-1
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max_iterations: 1000
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amlMaxIter: 20
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useDP: false
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penaWei: 10000.0
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esdfWei: 10000.0
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pieceTime: 0.8
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miniS: 0.1
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safeMargin: 0.2 #0.15+0.05
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conpts: [[0.15, 0.0], [0.3, -0.00]]
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non_siguav: 0.01
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#map
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mapRes: 0.1
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mapX: 20.0
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mapY: 20.0
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expandSize: 0
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wheel_base: 0.6
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horizon_: 50.0
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yaw_resolution_: 3.15
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lambda_heu_: 1.0
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steer_res: 0.5
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#0:48134 1:21376 2:19494 3:5794 4:4041 5:3064
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allocate_num_: 1000000
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check_num_: 8
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step_arc: 0.3
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checkl: 0.15
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max_seach_time: 20.0
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backW: 1.0
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isdebug: false
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isfixGear: true
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isVis: false
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enable_shot: false |