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erdos-project / frenet_optimal_trajectory_planner

Apache License 2.0
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Is there any detail about initial condition and hyper params? #24

Open xinwf opened 2 years ago

xinwf commented 2 years ago

There are many initial conditions and hyper params but without any description, it's hard to understand this planner ....

FahadRazaKhan commented 1 year ago

@xinwf It may be late for you, but I have found out following description of the initial conditions from the Python code this repo is adapted from.

double s0; // current course position
double c_speed; // current speed [m/s]
double c_d; // current lateral position [m]
double c_d_d; // current lateral speed [m/s]
double c_d_dd; // current lateral acceleration
double target_speed;
double *wx; // Waypoints X
double *wy; // Waypoints Y
int nw; // number of waypoints
double *o_llx;
double *o_lly;
double *o_urx;
double *o_ury;
int no; // number of obstacles