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hrhc_params.yaml
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#hrhc
q0: 10.0
q1: 10.0
q2: 0.0
r0: 0.10
r1: 5.0
pose_topic: "/odom"
scan_topic: "/scan"
drive_topic: "/drive"
horizon: 30
dt: 0.01
#occ_grid
occ_size: 10
occ_discrete: 0.1
occ_dilation: 0.15
cmaes_lookahead_1: -1.0
cmaes_lookahead_2: 2.0
switch_distance_threshold: 3.0
#traj_planner
num_traj: 10
close_weight: 1.5
MAX_HORIZON: 50
# Lanes
lane_0: "csv/fooxx.csv"
lane_1: "csv/fooxx_point25.csv"
lane_2: "csv/fooxx_point5.csv"
lane_3: "csv/fooxx_point75.csv"
lane_4: "csv/fooxx_one.csv"
lane_5: "csv/fooxx_1point25.csv"
lane_6: "csv/fooxx_1point5.csv"
lane_7: "csv/fooxx_1point75.csv"
lane_8: "csv/fooxx_two.csv"
# desired input
des_vel: 4.5
des_steer: 0
#constraints
umax: 4.5 #change dt if you change this
umin: 3
# slip angle 0.1
# slip_p1_vel: 2.75
# slip_p1_steer: 0.36
# slip_p2_vel: 4.5
# slip_p2_steer: 0.08
# slip angle 0.2
# slip_p1_vel: 3.1
# slip_p1_steer: 0.4
# slip_p2_vel: 4.5
# slip_p2_steer: 0.15
# slip angle 0.3
# slip_p1_vel: 3.6
# slip_p1_steer: 0.4
# slip_p2_vel: 4.5
# slip_p2_steer: 0.23
# slip angle 0.45
# slip_p1_vel: 4.2
# slip_p1_steer: 0.41
# slip_p2_vel: 4.5
# slip_p2_steer: 0.36
# slip angle unlimited?!?!?!
slip_p1_vel: 5.2
slip_p1_steer: 1.41
slip_p2_vel: 5.5
slip_p2_steer: 1.36
follow_gap_thresh: 3
state_lims: 1
fov_divider: 1.5
buffer: 3
#rrt*
max_goal_distance: 2.5
min_goal_distance: 2.0
goal_epsilon: 0.1
max_expansion_dist: 0.5
rrt_iters: 500
look_ahead: 0.4
angle_limit: 1.5
steer_angle: 0.3
rrt_radius_sq: 0.8
shortcut_iters: 50