enable_path_planning_thread: true
enable_vertical_parking_last_trajectory_straight: true
enable_parallel_parking_last_trajectory_straight: true
warm_start_config {
    xy_grid_resolution: 0.3
    phi_grid_resolution: 0.05
    next_node_num: 8
    step_size: 0.1
    traj_forward_penalty: 2.0
    traj_back_penalty: 2.0
    traj_gear_switch_penalty: 10.0
    traj_steer_penalty: 2.5
    traj_steer_change_penalty: 3.0
    traj_short_length_penalty: 1.0
    grid_a_star_xy_resolution: 0.25
    node_radius: 0.2
    traj_kappa_contraint_ratio: 1.5
    max_explored_num: 200000
    desired_explored_num: 1000
    traj_expected_shortest_length: 1.0
    astar_max_search_time: 15.0
    esdf_range: 2.0
    soft_boundary_penalty: 8.0
    use_esdf: true
}
