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: 10.0
  grid_a_star_xy_resolution: 0.25
  node_radius: 0.2
  traj_kappa_contraint_ratio: 0.85
  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
}
kappa_ratio: 0.88
