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feat: remove admissible_{position/yaw}_error from trajectory_follower #1284

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Dec 19, 2024
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feat: remove admissible_{position/yaw}_error from trajectory_follower #1284

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2 changes: 0 additions & 2 deletions autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
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Expand Up @@ -3,8 +3,6 @@
# -- system --
traj_resample_dist: 0.1 # path resampling interval [m]
use_steer_prediction: false # flag for using steer prediction (do not use steer measurement)
admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value
admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value
use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory

# -- path smoothing --
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