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‎planning/autoware_velocity_smoother/README.ja.md

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{{json_to_markdown("planning/autoware_velocity_smoother/schema/Linf.schema.json")}}
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### Constraint parameters
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| Name | Type | Description | Default value |

‎planning/autoware_velocity_smoother/README.md

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{{json_to_markdown("planning/autoware_velocity_smoother/schema/Linf.schema.json")}}
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### Constraint parameters
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| Name | Type | Description | Default value |

‎planning/autoware_velocity_smoother/config/default_nearest_search.param.yaml

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/**:
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ros__parameters:
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ros__parameters:
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ego_nearest_dist_threshold: 0.3 # threshold to find the nearest point on the trajectory [m]
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ego_nearest_yaw_threshold: 1.046 # threshold to find the nearest point on the trajectory [rad]
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ego_nearest_yaw_threshold: 1.046 # threshold to find the nearest point on the trajectory [rad]

‎planning/autoware_velocity_smoother/schema/Analytical.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for analytical",
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"type": "object",
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"definitions": {
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"analytical_params": {
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"type": "object",
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"properties": {
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"resample": {
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"type": "object",
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"properties": {
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"ds_resample": {
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"type": "number",
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"default": 0.1,
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"description": "Enable resampling"
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},
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"num_resample": {
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"type": "number",
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"default": 1,
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"description": "Resample interval"
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},
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"delta_yaw_threshold": {
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"type": "number",
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"default": 0.785,
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"description": "Threshold for yaw change"
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}
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for analytical",
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"type": "object",
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"definitions": {
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"analytical_params": {
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"type": "object",
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"properties": {
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"resample": {
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"type": "object",
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"properties": {
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"ds_resample": {
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"type": "number",
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"default": 0.1,
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"description": "Enable resampling"
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},
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"required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
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"additionalProperties": false
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},
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"latacc": {
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"type": "object",
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"properties": {
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"enable_constant_velocity_while_turning": {
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"type": "boolean",
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"default": false,
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"description": "Enable constant velocity while turning"
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},
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"constant_velocity_dist_threshold": {
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"type": "number",
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"default": 2.0,
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"description": "Threshold for constant velocity"
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}
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"num_resample": {
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"type": "number",
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"default": 1,
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"description": "Resample interval"
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},
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"required": [
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"enable_constant_velocity_while_turning",
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"constant_velocity_dist_threshold"
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],
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"additionalProperties": false
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"delta_yaw_threshold": {
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"type": "number",
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"default": 0.785,
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"description": "Threshold for yaw change"
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}
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},
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"forward": {
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"type": "object",
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"properties": {
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"max_acc": {
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"type": "number",
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"default": 1.0,
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"description": "Maximum forward acceleration"
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},
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"min_acc": {
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"type": "number",
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"default": -1.0,
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"description": "Minimum forward acceleration"
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},
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"max_jerk": {
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"type": "number",
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"default": 0.3,
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"description": "Maximum forward jerk"
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},
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"min_jerk": {
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"type": "number",
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"default": -0.3,
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"description": "Minimum forward jerk"
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},
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"kp": {
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"type": "number",
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"default": 0.3,
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"description": "Proportional gain for forward control"
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}
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"required": ["ds_resample", "num_resample", "delta_yaw_threshold"],
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"additionalProperties": false
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},
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"latacc": {
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"type": "object",
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"properties": {
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"enable_constant_velocity_while_turning": {
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"type": "boolean",
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"default": false,
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"description": "Enable constant velocity while turning"
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},
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"required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
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"additionalProperties": false
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"constant_velocity_dist_threshold": {
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"type": "number",
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"default": 2.0,
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"description": "Threshold for constant velocity"
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}
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},
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"backward": {
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"type": "object",
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"properties": {
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"start_jerk": {
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"type": "number",
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"default": -0.1,
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"description": "Jerk at the start of backward motion"
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},
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"min_jerk_mild_stop": {
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"type": "number",
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"default": -0.3,
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"description": "Minimum jerk for mild stopping"
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},
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"min_jerk": {
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"type": "number",
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"default": -1.5,
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"description": "Minimum backward jerk"
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},
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"min_acc_mild_stop": {
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"type": "number",
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"default": -1.0,
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"description": "Minimum acceleration for mild stopping"
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},
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"min_acc": {
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"type": "number",
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"default": -2.5,
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"description": "Minimum backward acceleration"
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},
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"span_jerk": {
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"type": "number",
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"default": -0.01,
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"description": "Span jerk value for backward motion"
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}
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},
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"required": ["start_jerk", "min_jerk_mild_stop", "min_jerk", "min_acc_mild_stop", "min_acc", "span_jerk"],
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"additionalProperties": false
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}
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"required": [
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"enable_constant_velocity_while_turning",
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"constant_velocity_dist_threshold"
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],
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"additionalProperties": false
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},
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"required": ["resample", "latacc", "forward", "backward"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/analytical_params"
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}
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"forward": {
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"type": "object",
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"properties": {
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"max_acc": {
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"type": "number",
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"default": 1.0,
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"description": "Maximum forward acceleration"
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},
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"min_acc": {
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"type": "number",
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"default": -1.0,
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"description": "Minimum forward acceleration"
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},
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"max_jerk": {
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"type": "number",
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"default": 0.3,
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"description": "Maximum forward jerk"
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},
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"min_jerk": {
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"type": "number",
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"default": -0.3,
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"description": "Minimum forward jerk"
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},
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"kp": {
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"type": "number",
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"default": 0.3,
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"description": "Proportional gain for forward control"
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}
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},
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"required": ["max_acc", "min_acc", "max_jerk", "min_jerk", "kp"],
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"additionalProperties": false
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}
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"backward": {
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"type": "object",
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"properties": {
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"start_jerk": {
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"type": "number",
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"default": -0.1,
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"description": "Jerk at the start of backward motion"
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},
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"min_jerk_mild_stop": {
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"type": "number",
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"default": -0.3,
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"description": "Minimum jerk for mild stopping"
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},
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"min_jerk": {
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"type": "number",
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"default": -1.5,
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"description": "Minimum backward jerk"
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},
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"min_acc_mild_stop": {
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"type": "number",
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"default": -1.0,
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"description": "Minimum acceleration for mild stopping"
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},
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"min_acc": {
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"type": "number",
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"default": -2.5,
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"description": "Minimum backward acceleration"
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},
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"span_jerk": {
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"type": "number",
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"default": -0.01,
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"description": "Span jerk value for backward motion"
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}
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},
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"required": [
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"start_jerk",
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"min_jerk_mild_stop",
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"min_jerk",
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"min_acc_mild_stop",
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"min_acc",
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"span_jerk"
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],
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"additionalProperties": false
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}
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},
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"required": ["resample", "latacc", "forward", "backward"],
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"additionalProperties": false
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/analytical_params"
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}
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},
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"required": ["ros__parameters"],
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"additionalProperties": false
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}
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},
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"required": ["/**"],
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"additionalProperties": false
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}

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