package planning

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next id: 24

• optional controller.Header header = 1

• optional double total_path_length = 2

  in meters

• optional double total_path_time = 3

  in seconds

• optional EStop estop = 6

• optional bool is_replan = 9

  is_replan == true mean replan triggered

• optional canbus.Chassis.GearPosition gear = 10

  Specify trajectory gear

• repeated points.TrajectoryPoint trajectory_point = 12

  path data + speed data

• repeated points.PathPoint path_point = 13

  path point without speed info

• optional LatencyStats latency_stats = 15

• optional controller.Header routing_header = 16

  the routing used for current planning result

• optional ADCTrajectory.RightOfWayStatus right_of_way_status = 17

• optional ADCTrajectory.TrajectoryType trajectory_type = 21

• optional string replan_reason = 22

• optional bool car_in_dead_end = 24

  complete dead end flag

• optional RSSInfo rss_info = 100

  output related to RSS

Used in: ADCTrajectory

• UNPROTECTED = 0

• PROTECTED = 1

Used in: ADCTrajectory

• UNKNOWN = 0

• NORMAL = 1

• PATH_FALLBACK = 2

• SPEED_FALLBACK = 3

• PATH_REUSED = 4

Used in: IterativeAnchoringConfig

• optional int32 degrees = 1

• optional int32 samples = 2

Used in: ADCTrajectory

• optional bool is_estop = 1

  is_estop == true when emergency stop is required

• optional string reason = 2

Used in: PlannerOpenSpaceConfig

• optional double interpolated_delta_s = 1

  Ipopt configs

• optional int32 reanchoring_trails_num = 2

• optional double reanchoring_pos_stddev = 3

• optional double reanchoring_length_stddev = 4

• optional bool estimate_bound = 5

• optional double default_bound = 6

• optional double vehicle_shortest_dimension = 7

• optional smoother.FemPosDeviationSmootherConfig fem_pos_deviation_smoother_config = 8

• optional double collision_decrease_ratio = 9

• optional double max_forward_v = 10

• optional double max_reverse_v = 11

• optional double max_forward_acc = 12

• optional double max_reverse_acc = 13

• optional double max_acc_jerk = 14

• optional double delta_t = 15

• optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 16

• optional int64 max_iteration_num = 17

• optional double k_dense_time_resolution = 18

• optional BSplineConfig bspline_config = 19

• UNKNOWN = 0

• IN_ROAD = 1

• CROSS_ROAD = 2

• FORK_ROAD = 3

• MAIN_SIDE = 4

• DEAD_END = 5

Used in: ADCTrajectory

• optional double total_time_ms = 1

• repeated TaskStats task_stats = 2

• optional double init_frame_time_ms = 3

Used in: IterativeAnchoringConfig, WarmStartConfig

• optional double max_forward_v = 1

• optional double max_reverse_v = 2

• optional double max_forward_acc = 3

• optional double max_reverse_acc = 4

• optional double max_acc_jerk = 5

• optional double delta_t = 6

• optional double acc_weight = 7

• optional double jerk_weight = 8

• optional double kappa_penalty_weight = 9

• optional double ref_s_weight = 10

• optional double ref_v_weight = 11

• optional double k_dense_time_resoltuion = 12

• optional WarmStartConfig warm_start_config = 2

  // Open Space ROIConfig optional ROIConfig roi_config = 1; Hybrid A Star Warm Start

• optional IterativeAnchoringConfig iterative_anchoring_smoother_config = 5

  // Dual Variable Warm Start optional DualVariableWarmStartConfig dual_variable_warm_start_config = 3; // Distance Approach Configs optional DistanceApproachConfig distance_approach_config = 4; Iterative Anchoring Configs

• optional float delta_t = 7

  // Trajectory PartitionConfig Configs optional TrajectoryPartitionConfig trajectory_partition_config = 6;

• optional double is_near_destination_threshold = 8

• optional bool enable_check_parallel_trajectory = 9

• optional bool enable_linear_interpolation = 10

• optional double is_near_destination_theta_threshold = 11

Used in: ADCTrajectory

• optional bool is_rss_safe = 1

• optional double cur_dist_lon = 2

• optional double rss_safe_dist_lon = 3

• optional double acc_lon_range_minimum = 4

• optional double acc_lon_range_maximum = 5

• optional double acc_lat_left_range_minimum = 6

• optional double acc_lat_left_range_maximum = 7

• optional double acc_lat_right_range_minimum = 8

• optional double acc_lat_right_range_maximum = 9

Used in: LatencyStats

• optional string name = 1

• optional double time_ms = 2

Used in: PlannerOpenSpaceConfig

• optional double xy_grid_resolution = 1

  Hybrid a star for warm start

• optional double phi_grid_resolution = 2

• optional uint64 next_node_num = 3

• optional double step_size = 4

• optional double traj_forward_penalty = 5

• optional double traj_back_penalty = 6

• optional double traj_gear_switch_penalty = 7

• optional double traj_steer_penalty = 8

• optional double traj_steer_change_penalty = 9

• optional double grid_a_star_xy_resolution = 15

  Grid a star for heuristic

• optional double node_radius = 16

• optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 17