perf(freespace_planning_algorithms): update the astar search algorithm

autowarefoundation · Apr 9, 2024 · 41f40d4 · 41f40d4
1 parent 6b2229e
commit 41f40d4
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diff --git a/...lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/...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/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/...ne_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -82,6 +82,8 @@
         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/.../config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/.../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 --