From ac10bce5110b505fd1e31c85b7f020076b2b2572 Mon Sep 17 00:00:00 2001 From: Aswin Vijay Date: Fri, 8 Mar 2024 16:01:58 +0900 Subject: [PATCH] perf(freespace_planning_algorithms): update the astar search algorithm --- .../behavior_path_planner/goal_planner/goal_planner.param.yaml | 2 ++ .../start_planner/start_planner.param.yaml | 2 ++ .../parking/freespace_planner/freespace_planner.param.yaml | 2 ++ 3 files changed, 6 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index eea6d0acdc..edccc2a41e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -108,6 +108,8 @@ astar: only_behind_solutions: false use_back: false + use_curve_weight: true + use_complete_astar: true distance_heuristic_weight: 1.0 # -- RRT* search Configurations -- rrtstar: diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index 41e4f90bbc..f1e384d750 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -81,6 +81,8 @@ astar: only_behind_solutions: false use_back: false + use_curve_weight: true + use_complete_astar: true distance_heuristic_weight: 1.0 # -- RRT* search Configurations -- rrtstar: diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index ffd99df533..93c9e235dd 100644 --- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -36,6 +36,8 @@ astar: only_behind_solutions: false use_back: true + use_curve_weight: true + use_complete_astar: true distance_heuristic_weight: 1.0 # -- RRT* search Configurations --