Path Smoothing

Purpose

This package contains code to smooth a path or trajectory.

Features

Elastic Band

More details about the elastic band can be found here.

Parameter

Name	Type	Description	Default	Range
common.output_delta_arc_length	float	Delta arc length for output trajectory [m].	0.5	N/A
common.output_backward_traj_length	float	Backward length for backward trajectory from base_link [m].	5	N/A
option.enable_warm_start	boolean	Enable warm start for elastic band optimization.	1	N/A
option.enable_optimization_validation	boolean	Enable optimization validation.	0	N/A
common.num_points	integer	Number of points for optimization.	100	N/A
common.delta_arc_length	float	Delta arc length for optimization [m].	1	N/A
clearance.num_joint_points	integer	Number of joint points (joint means connecting fixing and smoothing).	3	N/A
clearance.clearance_for_fix	float	Maximum optimizing range when applying fixing.	0	N/A
clearance.clearance_for_joint	float	Maximum optimizing range when applying jointing.	0.1	N/A
clearance.clearance_for_smooth	float	Maximum optimizing range when applying smoothing.	0.1	N/A
weight.smooth_weight	float	Weight for smoothing.	1	N/A
weight.lat_error_weight	float	Weight for lateral error.	0.001	N/A
qp.max_iteration	integer	Maximum iteration when solving QP.	10000	N/A
qp.eps_abs	float	Absolute epsilon when solving OSQP.	1e-07	N/A
qp.eps_rel	float	Relative epsilon when solving OSQP.	1e-07	N/A
validation.max_error	float	Maximum error for validation [m].	3	N/A
ego_nearest_dist_threshold	float	Distance threshold for nearest ego search [m].	3	N/A
ego_nearest_yaw_threshold	float	Yaw threshold for nearest ego search [rad].	1.046	N/A
replan.enable	boolean	If true, only perform smoothing when the input changes significantly.	1	N/A
replan.max_path_shape_around_ego_lat_dist	float	Threshold of path shape change around ego [m].	2	N/A
replan.max_path_shape_forward_lon_dist	float	Forward point to check lateral distance difference [m].	100	N/A
replan.max_path_shape_forward_lat_dist	float	Threshold of path shape change around forward point [m].	0.2	N/A
replan.max_ego_moving_dist	float	Threshold of ego's moving distance for replan [m].	5	N/A
replan.max_goal_moving_dist	float	Threshold of goal's moving distance for replan [m].	15	N/A
replan.max_delta_time_sec	float	Threshold of delta time for replan [second].	0	N/A