spiral_smoother_config.pb.txt

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max_constraint_interval : 5.0
longitudinal_boundary_bound : 2.0
max_lateral_boundary_bound : 0.5
min_lateral_boundary_bound : 0.1
resolution : 0.02
curb_shift : 0.2
lateral_buffer : 0.2
 
spiral {
  max_deviation: 0.05
  piecewise_length : 10.0
  max_iteration : 500
  opt_tol : 1.0e-6
  opt_acceptable_tol : 1e-4
  opt_acceptable_iteration : 15
  weight_curve_length : 1.0
  weight_kappa : 1.0
  weight_dkappa : 100.0
}