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fix(smoother): fix smoother jerk weight params #528

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Aug 25, 2023
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fix(smoother): fix smoother jerk weight params #528

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8 changes: 4 additions & 4 deletions ...config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
/**:
ros__parameters:
jerk_weight: 0.1 # weight for "smoothness" cost for jerk
over_v_weight: 10000.0 # weight for "over speed limit" cost
over_a_weight: 500.0 # weight for "over accel limit" cost
over_j_weight: 200.0 # weight for "over jerk limit" cost
jerk_weight: 10.0 # weight for "smoothness" cost for jerk
over_v_weight: 100000.0 # weight for "over speed limit" cost
over_a_weight: 5000.0 # weight for "over accel limit" cost
over_j_weight: 2000.0 # weight for "over jerk limit" cost
jerk_filter_ds: 0.1 # resampling ds for jerk filter