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New TM constants

This commit is contained in:
glopezdiest 2024-07-08 14:01:28 +02:00 committed by Blyron
parent ffaf7ff581
commit 54b8219523
1 changed files with 3 additions and 3 deletions
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6
LibCarla/source/carla/trafficmanager/Constants.h
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@ -51,7 +51,7 @@ static const float HIGH_SPEED_HORIZON_RATE = 4.0f;
} // namespace PathBufferUpdate
namespace WaypointSelection {
static const float TARGET_WAYPOINT_TIME_HORIZON = 0.3f;
static const float TARGET_WAYPOINT_TIME_HORIZON = 0.5f;
static const float MIN_TARGET_WAYPOINT_DISTANCE = 3.0f;
static const float JUNCTION_LOOK_AHEAD = 5.0f;
static const float SAFE_DISTANCE_AFTER_JUNCTION = 4.0f;
@ -151,8 +151,8 @@ static const float DT = 0.05f;
static const float INV_DT = 1.0f / DT;
static const std::vector<float> LONGITUDIAL_PARAM = {12.0f, 0.05f, 0.02f};
static const std::vector<float> LONGITUDIAL_HIGHWAY_PARAM = {20.0f, 0.05f, 0.01f};
static const std::vector<float> LATERAL_PARAM = {4.0f, 0.02f, 0.08f};
static const std::vector<float> LATERAL_HIGHWAY_PARAM = {2.0f, 0.02f, 0.04f};
static const std::vector<float> LATERAL_PARAM = {8.0f, 0.04f, 0.16f};
static const std::vector<float> LATERAL_HIGHWAY_PARAM = {4.0f, 0.04f, 0.08f};
} // namespace PID
namespace TrackTraffic {