roi_config {
  roi_longitudinal_range: 15.0
  parking_start_range: 12.0
  parking_inwards: false
}
warm_start_config {
  xy_grid_resolution: 0.3
  phi_grid_resolution: 0.1
  next_node_num: 10
  step_size: 0.5
  traj_forward_penalty: 1.0
  traj_back_penalty: 1.0
  traj_gear_switch_penalty: 10.0
  traj_steer_penalty: 0.0
  traj_steer_change_penalty: 0.0
  grid_a_star_xy_resolution: 0.5
  node_radius: 0.25
  s_curve_config {
    acc_weight: 1.0
    jerk_weight: 0.0
    kappa_penalty_weight: 100.0
    ref_s_weight: 0.1
    ref_v_weight: 0.0
  }
}
dual_variable_warm_start_config {
  weight_d: 1.0
  ipopt_config {
    ipopt_print_level: 0
    mumps_mem_percent: 6000
    mumps_pivtol: 1e-06
    ipopt_max_iter: 100
    ipopt_tol: 1e-05
    ipopt_acceptable_constr_viol_tol: 0.1
    ipopt_min_hessian_perturbation: 1e-12
    ipopt_jacobian_regularization_value: 1e-07
    ipopt_print_timing_statistics: "yes"
    ipopt_alpha_for_y: "min"
    ipopt_recalc_y: "yes"
  }
  qp_format: OSQP
  min_safety_distance: 0.01
  debug_osqp: false
  beta: 1.0
  osqp_config {
    alpha: 1.0
    eps_abs: 1.0e-3
    eps_rel: 1.0e-3
    max_iter: 10000
    polish: true
    osqp_debug_log: false
  }
}
distance_approach_config {
  weight_steer: 0.3
  weight_a: 1.1
  weight_steer_rate: 2.0
  weight_a_rate: 2.5
  weight_x: 18.0
  weight_y: 14.0
  weight_phi: 10.0
  weight_v: 0.0
  weight_steer_stitching: 1.75
  weight_a_stitching: 3.25
  weight_first_order_time: 1.0
  weight_second_order_time: 2.0
  weight_end_state: 1.0
  weight_slack: 1.0
  min_safety_distance: 0.01
  max_speed_forward: 2.0
  max_speed_reverse: 1.0
  max_acceleration_forward: 2.0
  max_acceleration_reverse: 1.0
  min_time_sample_scaling: 0.5
  max_time_sample_scaling: 1.5
  use_fix_time: false
  ipopt_config {
    ipopt_print_level: 0
    mumps_mem_percent: 6000
    mumps_pivtol: 1e-06
    ipopt_max_iter: 1000
    ipopt_tol: 0.0001
    ipopt_acceptable_constr_viol_tol: 0.1
    ipopt_min_hessian_perturbation: 1e-12
    ipopt_jacobian_regularization_value: 1e-07
    ipopt_print_timing_statistics: "yes"
    ipopt_alpha_for_y: "min"
    ipopt_recalc_y: "yes"
    ipopt_mu_init: 0.1
  }
  enable_constraint_check: false
  enable_hand_derivative: false
  enable_derivative_check: false
  enable_initial_final_check: false
  distance_approach_mode: DISTANCE_APPROACH_IPOPT
  enable_check_initial_state: false
}
trajectory_partition_config {
  interpolated_pieces_num: 50
  initial_gear_check_horizon: 3
  heading_searching_range: 0.3
  gear_shift_period_duration: 2.0
  gear_shift_max_t: 3.0
  gear_shift_unit_t: 0.02
}
iterative_anchoring_smoother_config {
  interpolated_delta_s: 0.1
  reanchoring_trails_num: 50
  reanchoring_pos_stddev: 0.25
  reanchoring_length_stddev: 1.0
  estimate_bound: false
  default_bound: 2.0
  vehicle_shortest_dimension: 1.04
  fem_pos_deviation_smoother_config {
     weight_fem_pos_deviation: 1e8
     weight_path_length: 1.0
     weight_ref_deviation: 1e3
     apply_curvature_constraint: false
     weight_curvature_constraint_slack_var: 1e8
     curvature_constraint: 0.2
     max_iter: 500
     time_limit: 0.0
     verbose: false
     scaled_termination: true
     warm_start: true
  }
  collision_decrease_ratio: 0.9
  max_forward_v: 2.0
  max_reverse_v: 2.0
  max_forward_acc: 3.0
  max_reverse_acc: 2.0
  max_acc_jerk: 4.0
  delta_t: 0.2
  s_curve_config {
    acc_weight: 1.0
    jerk_weight: 1.0
    kappa_penalty_weight: 100.0
    ref_s_weight: 10.0
    ref_v_weight: 0.0
  }
}
delta_t: 0.5
is_near_destination_threshold: 0.05
enable_check_parallel_trajectory: false
enable_linear_interpolation: false