package drltt_proto

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Used in: DynamicsModelData, TrajectoryWaypoint

• optional BicycleModelAction bicycle_model = 1

Used in: Action

• optional float a = 1

  Acceleration in [m/s/s].

• optional float s = 2

  Steering angle in [rad].

Used in: HyperParameter

• optional float length = 1

  Vehicle length in [m].

• optional float front_overhang = 2

  Distance in [m] between vehicle front and fron axle.

• optional float rear_overhang = 3

  Distance in [m] between vehicle rear and rear axle.

• optional float wheelbase = 4

  Distance in [m] between front axle and rear axle.

• optional float width = 5

  Vehicle width in [m].

• optional float frontwheel_to_cog = 6

  Distance in [m] between front axle and center-of-gravity (CoG).

• optional float rearwheel_to_cog = 7

  Distance in [m] between rear axle and center-of-gravity (CoG).

• repeated float action_space_lb = 8

  Action space's lower bound.

• repeated float action_space_ub = 9

  Action space's upper bound.

• optional float max_lat_acc = 10

  Maximum lateral acceleration.

Used in: Observation

• repeated float feature = 1

  Vectorized feature.

Used in: State

• optional BodyState body_state = 1

  Sody state.

• optional float v = 2

  Velocity in [m/s].

State coordinates in fixed space frame.

Used in: BicycleModelState

• optional float x = 1

  X-coordinate in [m].

• optional float y = 2

  Y-coordinate in [m].

• optional float r = 3

  Orientation/heading in [rad].

TODO: move to higher level

Used in: DynamicsModelData

• repeated float data = 1

Used in: TrajectoryTrackingEpisode

• optional string type = 1

  Dynamic model's class name

• optional HyperParameter hyper_parameter = 2

  Hyper-parameter.

• repeated State states = 3

  Sequence of states.

• repeated Action actions = 4

  Sequence of actions.

• repeated Observation observations = 5

  Sequence of observations.

• repeated DebugInfo debug_infos = 6

  Debug information.

Environment

• optional TrajectoryTrackingEnvironment trajectory_tracking = 1

  Trajectory tracking.

• optional TensorFP observations = 1

  Observation tensor, shape=(sample_number, observation_dim)

• optional TensorFP actions = 2

  Action tensor, shape=(sample_number, action_dim)

TODO: add name field: LongVehicle/Truck/LongVehicle

Used in: DynamicsModelData, TrajectoryTrackingHyperParameter

• optional string type = 1

  The class name of the dynamics model.

• optional string name = 2

  The name of dynamics model. E.g. short vehicle, long vehicle, etc.

• optional BicycleModelHyperParameter bicycle_model = 3

  Bicycle model's hyper paramter.

Used in: DynamicsModelData

• optional BicycleModelObservation bicycle_model = 1

  Obervation of bicycle model.

Reference line

Used in: TrajectoryTrackingEpisode

• repeated ReferenceLineWaypoint waypoints = 1

  Sequence of waypoints.

Reference line's waypoint. TODO: move to body state

Used in: ReferenceLine

• optional float x = 1

  X-coordinate in [m]

• optional float y = 2

  Y-coordinate in [m]

Used in: DynamicsModelData, TrajectoryWaypoint

• optional BicycleModelState bicycle_model = 1

  State of bicycle model.

Float-point tensor.

Used in: ExportedPolicyTestCases

• repeated int32 shape = 1

  Tensor's shape.

• repeated float data = 2

  Tensor's underlying data.

Trajectory

• repeated TrajectoryWaypoint waypoints = 1

  Sequence of waypoint

Trajectory tracking environment.

Used in: Environment

• optional TrajectoryTrackingHyperParameter hyper_parameter = 1

  Hyper-parameter of the environment.

• optional TrajectoryTrackingEpisode episode = 2

  Episode data.

• repeated TrajectoryTrackingEpisode episodes = 3

Data recorded from an episode, i.e. a trajectory.

Used in: TrajectoryTrackingEnvironment

• optional int32 step_index = 1

  Last step index.

• optional TrajectoryTrackingHyperParameter hyper_parameter = 2

  Environment's hyper-parameter.

• optional ReferenceLine reference_line = 3

  Reference line.

• optional int32 tracking_length = 4

  Real tracking length.

• optional DynamicsModelData dynamics_model = 5

  Dynamics model's data, including hyper-parameter and trajectory, i.e. sequence of state-observation-action triplet.

• optional int32 selected_dynamics_model_index = 6

  Index of selected dynamics model.

• repeated float rewards = 7

  Sequence of rewards.

Used in: TrajectoryTrackingEnvironment, TrajectoryTrackingEpisode

• optional float step_interval = 1

  Interval between each time step in [s]

• repeated float init_state_lb = 2

  Initial state space's lower bound.

• repeated float init_state_ub = 3

  Initial state space's upper bound.

• optional int32 n_observation_steps = 4

  Number of observable forward waypoints on the reference line.

• repeated HyperParameter dynamics_models_hyper_parameters = 5

  Collectino of hyper-parameters of dynamics models.

• optional int32 tracking_length_lb = 6

  Tracking lenght' lower bound.

• optional int32 tracking_length_ub = 7

  Tracking lenght' upper bound.

• optional string reference_line_pad_mode = 8

  Reference line pad mode.

• optional int32 max_n_episodes = 9

  TODO: consider a better place to store this hparam

Trajectory's waypoint.

Used in: Trajectory

• optional State state = 1

  Sequence of states.

• optional Action action = 2

  Sequence of actions.