package challenge_protocol

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• rpc InitializePlanner (PlannerInitializationLight, Empty)

  challenge.proto:6

  message PlannerInitializationLight

  challenge.proto:50

  • repeated string route_roadblock_ids = 1

  • optional StateSE2 mission_goal = 2

  • string map_name = 3

  message Empty

  challenge.proto:10

  (message has no fields)

• rpc ComputeTrajectory (PlannerInput, Trajectory)

  challenge.proto:7

  message PlannerInput

  challenge.proto:33

  • optional SimulationIteration simulation_iteration = 1

  • optional SimulationHistoryBuffer simulation_history_buffer = 2

  • repeated TrafficLightStatusData traffic_light_data = 3

    Note: original message is Optional, here is empty list if None

  message Trajectory

  challenge.proto:66

  • repeated EgoState ego_states = 1

Used in: Trajectory

• optional StateSE2 rear_axle_pose = 1

• optional StateVector2D rear_axle_velocity_2d = 2

• optional StateVector2D rear_axle_acceleration_2d = 3

• float tire_steering_angle = 4

• int64 time_us = 5

• float angular_vel = 6

• float angular_accel = 7

Used in: PlannerInput

• repeated bytes ego_states = 1

• repeated bytes observations = 2

• optional float sample_interval = 3

Used in: PlannerInput

• int64 time_us = 1

• int32 index = 2

Used in: EgoState, PlannerInitializationLight

• float x = 1

• float y = 2

• float heading = 3

Used in: EgoState

• float x = 1

• float y = 2

Used in: PlannerInput

• optional TrafficLightStatusType status = 1

• int32 lane_connector_id = 2

• int64 timestamp = 3

Used in: TrafficLightStatusData

• string status_name = 1