From fd4393b1c0420f66bd2954e11ab8e105b57188f4 Mon Sep 17 00:00:00 2001 From: Cameron Earle Date: Sun, 31 Mar 2024 21:02:14 -0400 Subject: [PATCH 1/2] Lower VTS minimum control interval count again again --- trajectory_native/src/trajectory_service.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/trajectory_native/src/trajectory_service.cpp b/trajectory_native/src/trajectory_service.cpp index 3a42fd3d..b56b678c 100644 --- a/trajectory_native/src/trajectory_service.cpp +++ b/trajectory_native/src/trajectory_service.cpp @@ -19,7 +19,7 @@ namespace vts = org::littletonrobotics::vehicletrajectoryservice; // We take the tradeoff of increased computation time since we cache paths anyway. static const double CONTROL_INTERVAL_GUESS_SCALAR = 1.0; -static const int MINIMUM_CONTROL_INTERVAL_COUNT = 20; +static const int MINIMUM_CONTROL_INTERVAL_COUNT = 10; static std::unique_ptr server; From 7e3cfdb0df7da37f31a080be9b641ccc60bada4c Mon Sep 17 00:00:00 2001 From: Cameron Earle Date: Sun, 31 Mar 2024 21:30:46 -0400 Subject: [PATCH 2/2] REMOVE VTS minimum control interval count! --- trajectory_native/src/trajectory_service.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/trajectory_native/src/trajectory_service.cpp b/trajectory_native/src/trajectory_service.cpp index b56b678c..db9fdc77 100644 --- a/trajectory_native/src/trajectory_service.cpp +++ b/trajectory_native/src/trajectory_service.cpp @@ -19,7 +19,7 @@ namespace vts = org::littletonrobotics::vehicletrajectoryservice; // We take the tradeoff of increased computation time since we cache paths anyway. static const double CONTROL_INTERVAL_GUESS_SCALAR = 1.0; -static const int MINIMUM_CONTROL_INTERVAL_COUNT = 10; +static const int MINIMUM_CONTROL_INTERVAL_COUNT = 0; static std::unique_ptr server;