package apollo.planning_internal

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Used in: PlanningData

• optional CostComponents teacher_component = 1

• optional CostComponents student_component = 2

• repeated routing.LaneSegment lane_segment = 1

• repeated common.Path segment = 1

• optional routing.RoutingResponse routing = 1

Used in: AutoTuningTrainingData

• repeated double cost_component = 1

Used in: planning.ADCTrajectory

• optional PlanningData planning_data = 2

Used in: ObstacleDebug

• optional string decider_tag = 1

• optional planning.ObjectDecisionType decision = 2

Used in: PlanningData

• repeated SampleLayerDebug sample_layer = 1

• repeated common.SLPoint min_cost_point = 2

Used in: PlanningData

• optional bool using_learning_model_output = 1

• optional double learning_model_output_usage_ratio = 2

• optional string learning_model_output_fail_reason = 3

• optional common.Path evaluated_path_reference = 4

Used in: LatticeStTraining

• optional int32 s = 1

• optional int32 t = 2

• optional uint32 r = 3

• optional uint32 g = 4

• optional uint32 b = 5

Used in: PlanningData

• repeated LatticeStPixel pixel = 1

• optional double timestamp = 2

• optional string annotation = 3

• optional uint32 num_s_grids = 4

• optional uint32 num_t_grids = 5

• optional double s_resolution = 6

• optional double t_resolution = 7

Used in: OpenSpaceDebug, PlanningData

• optional string id = 1

• optional planning.SLBoundary sl_boundary = 2

• repeated DecisionTag decision_tag = 3

• repeated double vertices_x_coords = 4

• repeated double vertices_y_coords = 5

Used in: PlanningData

• optional Trajectories trajectories = 1

• optional common.VehicleMotion warm_start_trajectory = 2

• optional common.VehicleMotion smoothed_trajectory = 3

• repeated double warm_start_dual_lambda = 4

• repeated double warm_start_dual_miu = 5

• repeated double optimized_dual_lambda = 6

• repeated double optimized_dual_miu = 7

• repeated double xy_boundary = 8

• repeated ObstacleDebug obstacles = 9

• optional common.TrajectoryPoint roi_shift_point = 10

• optional common.TrajectoryPoint end_point = 11

• optional Trajectories partitioned_trajectories = 12

• optional Trajectories chosen_trajectory = 13

• optional bool is_fallback_trajectory = 14

• optional Trajectories fallback_trajectory = 15

• optional common.TrajectoryPoint trajectory_stitching_point = 16

• optional common.TrajectoryPoint future_collision_point = 17

• optional double time_latency = 18

  ms

• optional common.PointENU origin_point = 19

  meter

• optional double origin_heading_rad = 20

next ID: 30

Used in: dreamview.SimulationWorld, Debug

• optional localization.LocalizationEstimate adc_position = 7

  input

• optional canbus.Chassis chassis = 8

• optional routing.RoutingResponse routing = 9

• optional common.TrajectoryPoint init_point = 10

• repeated common.Path path = 6

• repeated SpeedPlan speed_plan = 13

• repeated STGraphDebug st_graph = 14

• repeated SLFrameDebug sl_frame = 15

• optional common.Header prediction_header = 16

• optional SignalLightDebug signal_light = 17

• repeated ObstacleDebug obstacle = 18

• repeated ReferenceLineDebug reference_line = 19

• optional DpPolyGraphDebug dp_poly_graph = 20

• optional LatticeStTraining lattice_st_image = 21

• optional relative_map.MapMsg relative_map = 22

• optional AutoTuningTrainingData auto_tuning_training_data = 23

• optional double front_clear_distance = 24

• repeated dreamview.Chart chart = 25

• optional ScenarioDebug scenario = 26

• optional OpenSpaceDebug open_space = 27

• optional SmootherDebug smoother = 28

• optional PullOverDebug pull_over = 29

• optional HybridModelDebug hybrid_model = 30

Used in: PlanningData

• optional common.PointENU position = 1

• optional double theta = 2

• optional double length_front = 3

• optional double length_back = 4

• optional double width_left = 5

• optional double width_right = 6

Used in: PlanningData

• optional string id = 1

• optional double length = 2

• optional double cost = 3

• optional bool is_change_lane_path = 4

• optional bool is_drivable = 5

• optional bool is_protected = 6

• optional bool is_offroad = 7

• optional double minimum_boundary = 8

• optional double average_kappa = 9

• optional double average_dkappa = 10

• optional double kappa_rms = 11

• optional double dkappa_rms = 12

• optional double kappa_max_abs = 13

• optional double dkappa_max_abs = 14

• optional double average_offset = 15

Used in: PlanningData

• optional string name = 1

• repeated double sampled_s = 2

• repeated double static_obstacle_lower_bound = 3

• repeated double dynamic_obstacle_lower_bound = 4

• repeated double static_obstacle_upper_bound = 5

• repeated double dynamic_obstacle_upper_bound = 6

• repeated double map_lower_bound = 7

• repeated double map_upper_bound = 8

• repeated common.SLPoint sl_path = 9

• repeated double aggregated_boundary_s = 10

• repeated double aggregated_boundary_low = 11

• repeated double aggregated_boundary_high = 12

Used in: PlanningData

• optional string name = 1

• repeated StGraphBoundaryDebug boundary = 2

• repeated common.SpeedPoint speed_limit = 3

• repeated common.SpeedPoint speed_profile = 4

• optional STGraphDebug.STGraphSpeedConstraint speed_constraint = 5

• optional STGraphDebug.STGraphKernelCuiseRef kernel_cruise_ref = 6

• optional STGraphDebug.STGraphKernelFollowRef kernel_follow_ref = 7

Used in: STGraphDebug

• repeated double t = 1

• repeated double cruise_line_s = 2

Used in: STGraphDebug

• repeated double t = 1

• repeated double follow_line_s = 2

Used in: STGraphDebug

• repeated double t = 1

• repeated double lower_bound = 2

• repeated double upper_bound = 3

Used in: DpPolyGraphDebug

• repeated common.SLPoint sl_point = 1

Used in: PlanningData

• optional int32 scenario_type = 1

  "scenario_type" is deprecated because scenario is designed as plugin and "scenario_plugin_type" will be used instead.

• optional int32 stage_type = 2

  "stage_type" is deprecated because scenario is designed as plugin and "stage_plugin_type" will be used instead.

• optional string msg = 3

• optional string scenario_plugin_type = 4

• optional string stage_plugin_type = 5

Used in: PlanningData

• optional double adc_speed = 1

• optional double adc_front_s = 2

• repeated SignalLightDebug.SignalDebug signal = 3

Used in: SignalLightDebug

• optional string light_id = 1

• optional perception.TrafficLight.Color color = 2

• optional double light_stop_s = 3

• optional double adc_stop_deceleration = 4

• optional bool is_stop_wall_created = 5

Used in: PlanningData

• optional bool is_smoothed = 1

• optional SmootherDebug.SmootherType type = 2

• optional string reason = 3

Used in: SmootherDebug

• SMOOTHER_NONE = 1

• SMOOTHER_CLOSE_STOP = 2

Used in: PlanningData

• optional string name = 1

• repeated common.SpeedPoint speed_point = 2

Used in: STGraphDebug

• optional string name = 1

• repeated common.SpeedPoint point = 2

• optional StGraphBoundaryDebug.StBoundaryType type = 3

Used in: StGraphBoundaryDebug

• ST_BOUNDARY_TYPE_UNKNOWN = 1

• ST_BOUNDARY_TYPE_STOP = 2

• ST_BOUNDARY_TYPE_FOLLOW = 3

• ST_BOUNDARY_TYPE_YIELD = 4

• ST_BOUNDARY_TYPE_OVERTAKE = 5

• ST_BOUNDARY_TYPE_KEEP_CLEAR = 6

• ST_BOUNDARY_TYPE_DRIVABLE_REGION = 7

Used in: OpenSpaceDebug

• repeated common.Trajectory trajectory = 1