Skip to content

Commit

Permalink
style(pre-commit): autofix
Browse files Browse the repository at this point in the history
  • Loading branch information
@pre-commit-ci
pre-commit-ci[bot] committed Aug 22, 2024
1 parent 702dcaa commit 9a9e332
Show file tree
Hide file tree
Showing 6 changed files with 640 additions and 647 deletions.
270 changes: 138 additions & 132 deletions planning/autoware_velocity_smoother/schema/Analytical.schema.json
View file
Original file line number Diff line number Diff line change
@@ -1,140 +1,146 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for analytical",
"type": "object",
"definitions": {
"analytical_params": {
"type": "object",
"properties": {
"resample": {
"type": "object",
"properties": {
"ds_resample": {
"type": "number",
"default": 0.1,
"description": "Enable resampling"
},
"num_resample": {
"type": "number",
"default": 1,
"description": "Resample interval"
},
"delta_yaw_threshold": {
"type": "number",
"default": 0.785,
"description": "Threshold for yaw change"
}
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for analytical",
"type": "object",
"definitions": {
"analytical_params": {
"type": "object",
"properties": {
"resample": {
"type": "object",
"properties": {
"ds_resample": {
"type": "number",
"default": 0.1,
"description": "Enable resampling"
},
"required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
"additionalProperties": false
},
"latacc": {
"type": "object",
"properties": {
"enable_constant_velocity_while_turning": {
"type": "boolean",
"default": false,
"description": "Enable constant velocity while turning"
},
"constant_velocity_dist_threshold": {
"type": "number",
"default": 2.0,
"description": "Threshold for constant velocity"
}
"num_resample": {
"type": "number",
"default": 1,
"description": "Resample interval"
},
"required": [
"enable_constant_velocity_while_turning",
"constant_velocity_dist_threshold"
],
"additionalProperties": false
"delta_yaw_threshold": {
"type": "number",
"default": 0.785,
"description": "Threshold for yaw change"
}
},
"forward": {
"type": "object",
"properties": {
"max_acc": {
"type": "number",
"default": 1.0,
"description": "Maximum forward acceleration"
},
"min_acc": {
"type": "number",
"default": -1.0,
"description": "Minimum forward acceleration"
},
"max_jerk": {
"type": "number",
"default": 0.3,
"description": "Maximum forward jerk"
},
"min_jerk": {
"type": "number",
"default": -0.3,
"description": "Minimum forward jerk"
},
"kp": {
"type": "number",
"default": 0.3,
"description": "Proportional gain for forward control"
}
"required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
"additionalProperties": false
},
"latacc": {
"type": "object",
"properties": {
"enable_constant_velocity_while_turning": {
"type": "boolean",
"default": false,
"description": "Enable constant velocity while turning"
},
"required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
"additionalProperties": false
"constant_velocity_dist_threshold": {
"type": "number",
"default": 2.0,
"description": "Threshold for constant velocity"
}
},
"backward": {
"type": "object",
"properties": {
"start_jerk": {
"type": "number",
"default": -0.1,
"description": "Jerk at the start of backward motion"
},
"min_jerk_mild_stop": {
"type": "number",
"default": -0.3,
"description": "Minimum jerk for mild stopping"
},
"min_jerk": {
"type": "number",
"default": -1.5,
"description": "Minimum backward jerk"
},
"min_acc_mild_stop": {
"type": "number",
"default": -1.0,
"description": "Minimum acceleration for mild stopping"
},
"min_acc": {
"type": "number",
"default": -2.5,
"description": "Minimum backward acceleration"
},
"span_jerk": {
"type": "number",
"default": -0.01,
"description": "Span jerk value for backward motion"
}
},
"required": ["start_jerk", "min_jerk_mild_stop", "min_jerk", "min_acc_mild_stop", "min_acc", "span_jerk"],
"additionalProperties": false
}
"required": [
"enable_constant_velocity_while_turning",
"constant_velocity_dist_threshold"
],
"additionalProperties": false
},
"required": ["resample", "latacc", "forward", "backward"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/analytical_params"
}
"forward": {
"type": "object",
"properties": {
"max_acc": {
"type": "number",
"default": 1.0,
"description": "Maximum forward acceleration"
},
"min_acc": {
"type": "number",
"default": -1.0,
"description": "Minimum forward acceleration"
},
"max_jerk": {
"type": "number",
"default": 0.3,
"description": "Maximum forward jerk"
},
"min_jerk": {
"type": "number",
"default": -0.3,
"description": "Minimum forward jerk"
},
"kp": {
"type": "number",
"default": 0.3,
"description": "Proportional gain for forward control"
}
},
"required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
"additionalProperties": false
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}

"backward": {
"type": "object",
"properties": {
"start_jerk": {
"type": "number",
"default": -0.1,
"description": "Jerk at the start of backward motion"
},
"min_jerk_mild_stop": {
"type": "number",
"default": -0.3,
"description": "Minimum jerk for mild stopping"
},
"min_jerk": {
"type": "number",
"default": -1.5,
"description": "Minimum backward jerk"
},
"min_acc_mild_stop": {
"type": "number",
"default": -1.0,
"description": "Minimum acceleration for mild stopping"
},
"min_acc": {
"type": "number",
"default": -2.5,
"description": "Minimum backward acceleration"
},
"span_jerk": {
"type": "number",
"default": -0.01,
"description": "Span jerk value for backward motion"
}
},
"required": [
"start_jerk",
"min_jerk_mild_stop",
"min_jerk",
"min_acc_mild_stop",
"min_acc",
"span_jerk"
],
"additionalProperties": false
}
},
"required": ["resample", "latacc", "forward", "backward"],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/analytical_params"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
111 changes: 55 additions & 56 deletions planning/autoware_velocity_smoother/schema/JerkFiltered.schema.json
View file
Original file line number Diff line number Diff line change
@@ -1,59 +1,58 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for JerkFiltered",
"type": "object",
"definitions": {
"jerk_filtered_params": {
"type": "object",
"properties": {
"jerk_weight": {
"type": "number",
"default": 10.0,
"description": "Weight for 'smoothness' cost for jerk"
},
"over_v_weight": {
"type": "number",
"default": 100000.0,
"description": "Weight for 'over speed limit' cost"
},
"over_a_weight": {
"type": "number",
"default": 5000.0,
"description": "Weight for 'over accel limit' cost"
},
"over_j_weight": {
"type": "number",
"default": 2000.0,
"description": "Weight for 'over jerk limit' cost"
},
"jerk_filter_ds": {
"type": "number",
"default": 0.1,
"description": "Resampling ds for jerk filter"
}
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for JerkFiltered",
"type": "object",
"definitions": {
"jerk_filtered_params": {
"type": "object",
"properties": {
"jerk_weight": {
"type": "number",
"default": 10.0,
"description": "Weight for 'smoothness' cost for jerk"
},
"required": [
"jerk_weight",
"over_v_weight",
"over_a_weight",
"over_j_weight",
"jerk_filter_ds"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/jerk_filtered_params"
}
"over_v_weight": {
"type": "number",
"default": 100000.0,
"description": "Weight for 'over speed limit' cost"
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}

"over_a_weight": {
"type": "number",
"default": 5000.0,
"description": "Weight for 'over accel limit' cost"
},
"over_j_weight": {
"type": "number",
"default": 2000.0,
"description": "Weight for 'over jerk limit' cost"
},
"jerk_filter_ds": {
"type": "number",
"default": 0.1,
"description": "Resampling ds for jerk filter"
}
},
"required": [
"jerk_weight",
"over_v_weight",
"over_a_weight",
"over_j_weight",
"jerk_filter_ds"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/jerk_filtered_params"
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
Loading

0 comments on commit 9a9e332

Please sign in to comment.