package apollo.routing

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View/edit binary Protocol Buffers messages

Used in: dreamview.Decision, planning.MainCruise, planning.MainStop, Passage

• FORWARD = 0

• LEFT = 1

• RIGHT = 2

Used in: CurveRange

• optional double s = 1

Used in: Node

• optional CurvePoint start = 1

• optional CurvePoint end = 2

Used in: DefaultRoutings

• optional string name = 1

• repeated common.PointENU point = 2

• repeated DefaultRouting defaultrouting = 1

Used in: Graph

• optional string from_lane_id = 1

• optional string to_lane_id = 2

• optional double cost = 3

• optional Edge.DirectionType direction_type = 4

Used in: Edge

• FORWARD = 0

• LEFT = 1

• RIGHT = 2

• optional string hdmap_version = 1

• optional string hdmap_district = 2

• repeated Node node = 3

• repeated Edge edge = 4

Used in: POI

• optional string name = 1

• repeated LaneWaypoint waypoint = 2

• optional string parking_space_id = 3

• optional ParkingInfo parking_info = 4

Used in: planning_internal.CloudReferenceLineRequest, Passage, RoutingRequest

• optional string id = 1

• optional double start_s = 2

• optional double end_s = 3

Used in: Landmark, RoutingRequest

• optional string id = 1

• optional double s = 2

• optional common.PointENU pose = 3

Used in: planning.RoutingResponseFeature, RoutingResponse

• optional double distance = 1

Used in: Graph

• optional string lane_id = 1

• optional double length = 2

• repeated CurveRange left_out = 3

• repeated CurveRange right_out = 4

• optional double cost = 5

• optional hdmap.Curve central_curve = 6

• optional bool is_virtual = 7

• optional string road_id = 8

• repeated Landmark landmark = 1

Used in: Landmark, RoutingRequest

• optional string parking_space_id = 1

• optional common.PointENU parking_point = 2

Used in: RoadSegment

• repeated LaneSegment segment = 1

• optional bool can_exit = 2

• optional ChangeLaneType change_lane_type = 3

Used in: planning.RoutingResponseFeature, RoutingResponse

• optional string id = 1

• repeated Passage passage = 2

• optional double base_speed = 1

  base speed for node creator [m/s]

• optional double left_turn_penalty = 2

  left turn penalty for node creator [m]

• optional double right_turn_penalty = 3

  right turn penalty for node creator [m]

• optional double uturn_penalty = 4

  left turn penalty for node creator [m]

• optional double change_penalty = 5

  change penalty for edge creator [m]

• optional double base_changing_length = 6

  base change length penalty for edge creator [m]

• optional TopicConfig topic_config = 7

Used in: data.SoftwareInfo, planning.ReroutingStatus, RoutingResponse, task_manager.CycleRoutingTask

• optional common.Header header = 1

• repeated LaneWaypoint waypoint = 2

  at least two points. The first is start point, the end is final point. The routing must go through each point in waypoint.

• repeated LaneSegment blacklisted_lane = 3

• repeated string blacklisted_road = 4

• optional bool broadcast = 5

• optional hdmap.ParkingSpace parking_space = 6

• optional ParkingInfo parking_info = 7

Used in: planning_internal.CloudReferenceLineRoutingRequest, planning_internal.PlanningData

• optional common.Header header = 1

• repeated RoadSegment road = 2

• optional Measurement measurement = 3

• optional RoutingRequest routing_request = 4

• optional bytes map_version = 5

  the map version which is used to build road graph

• optional common.StatusPb status = 6

Used in: RoutingConfig

• optional string routing_response_topic = 1

• optional string routing_response_history_topic = 2