RVO2Plannerの不要なパラメータを削除

Author: HansRobo

crane_local_planner/include/crane_local_planner/rvo2_planner.hpp

@@ -53,9 +53,7 @@ class RVO2Planner : public LocalPlannerBase
   float RVO_RADIUS = 0.09f;
   float RVO_MAX_SPEED = 10.0f;
 
-  float RVO_TRAPEZOIDAL_MAX_ACC = 8.0;
   float RVO_TRAPEZOIDAL_FRAME_RATE = 60;
-  float RVO_TRAPEZOIDAL_MAX_SPEED = 4.0;
 
   double MAX_VEL = 4.0;
   double ACCELERATION = 4.0;

crane_local_planner/src/rvo2_planner.cpp

@@ -31,12 +31,8 @@ RVO2Planner::RVO2Planner(rclcpp::Node & node)
   RVO_RADIUS = node.get_parameter("rvo_radius").as_double();
   node.declare_parameter("rvo_max_speed", RVO_MAX_SPEED);
   RVO_MAX_SPEED = node.get_parameter("rvo_max_speed").as_double();
-  node.declare_parameter("rvo_trapezoidal_max_acc", RVO_TRAPEZOIDAL_MAX_ACC);
-  RVO_TRAPEZOIDAL_MAX_ACC = node.get_parameter("rvo_trapezoidal_max_acc").as_double();
   node.declare_parameter("rvo_trapezoidal_frame_rate", RVO_TRAPEZOIDAL_FRAME_RATE);
   RVO_TRAPEZOIDAL_FRAME_RATE = node.get_parameter("rvo_trapezoidal_frame_rate").as_double();
-  node.declare_parameter("rvo_trapezoidal_max_speed", RVO_TRAPEZOIDAL_MAX_SPEED);
-  RVO_TRAPEZOIDAL_MAX_SPEED = node.get_parameter("rvo_trapezoidal_max_speed").as_double();
 
   node.declare_parameter("max_vel", MAX_VEL);
   MAX_VEL = node.get_parameter("max_vel").as_double();