Apollo 10.0
自动驾驶开放平台
PlanningGraph.yml
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1# A map from path names defined planning_internal.proto
2# to display ones on Dreamview graphs.
3# This display names are used in the graph settings
4# such as speed graph as well.
5nameMapper:
6 planning_reference_line: ReferenceLine
7 DpStSpeedOptimizer: SpeedHeuristic
8 PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER: PlannedSpeed
9
10# Planning Graph settings
11slGraph:
12 title: 'QP Path - sl graph'
13 options:
14 legend:
15 display: false
16 axes:
17 x:
18 min: 0
19 max: 200
20 labelString: 's - ref_line (m)'
21 y:
22 min: -5
23 max: 5
24 labelString: 'l (m)'
25 properties:
26 lines:
27 aggregatedBoundaryLow:
28 color: 'rgba(48, 165, 255, 1)' # blue
29 borderWidth: 2
30 pointRadius: 0
31 fill: false
32 showLine: true
33 aggregatedBoundaryHigh:
34 color: 'rgba(48, 165, 255, 1)' # blue
35 borderWidth: 2
36 pointRadius: 0
37 lineTension: 0
38 fill: false
39 showLine: true
40 pathLine:
41 color: 'rgba(225, 225, 225, 0.7)' # white
42 borderWidth: 2
43 pointRadius: 0.5
44 fill: false
45 showLine: false
46 mapLowerBound:
47 color: 'rgba(54, 162, 235, 0.4)' # blue
48 borderWidth: 2
49 pointRadius: 0
50 fill: 'start'
51 showLine: true
52 mapUpperBound:
53 color: 'rgba(54, 162, 235, 0.4)' # blue
54 borderWidth: 2
55 pointRadius: 0
56 fill: 'end'
57 showLine: true
58 staticObstacleLowerBound:
59 color: 'rgba(255, 0, 0, 0.8)' # red
60 borderWidth: 2
61 pointRadius: 0
62 fill: 'start'
63 showLine: true
64 staticObstacleUpperBound:
65 color: 'rgba(255, 0, 0, 0.8)' # red
66 borderWidth: 2
67 pointRadius: 0
68 fill: 'end'
69 showLine: true
70 dynamicObstacleLowerBound:
71 color: 'rgba(255, 206, 86, 0.2)' # yellow
72 borderWidth: 2
73 pointRadius: 0
74 fill: false
75 showLine: true
76 dynamicObstacleUpperBound:
77 color: 'rgba(255, 206, 86, 0.2)' # yellow
78 borderWidth: 2
79 pointRadius: 0
80 fill: false
81 showLine: true
82stGraph:
83 options:
84 legend:
85 display: false
86 axes:
87 x:
88 min: -2
89 max: 10
90 labelString: 't (second)'
91 y:
92 min: -10
93 max: 220
94 labelString: 's (m)'
95 properties:
96 lines:
97 curveLine:
98 color: 'rgba(225, 225, 225, 0.5)' # white
99 borderWidth: 2
100 pointRadius: 1
101 fill: false
102 showLine: false
103 kernelCruise:
104 color: 'rgba(27, 249, 105, 0.5)' # green
105 borderWidth: 2
106 pointRadius: 1
107 fill: false
108 showLine: false
109 kernelFollow:
110 color: 'rgba(255, 206, 86, 0.5)' # yellow
111 borderWidth: 2
112 pointRadius: 1
113 fill: false
114 showLine: false
115 datasets:
116 - name: DP_ST_SPEED_OPTIMIZER
117 graphTitle: Speed Heuristic
118 - name: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
119 graphTitle: Planning S-T Graph
120stSpeedGraph:
121 options:
122 legend:
123 display: true
124 axes:
125 x:
126 min: -10
127 max: 220
128 labelString: 's - qp_path(m)'
129 y:
130 min: -1
131 max: 40
132 labelString: 'v (m/s)'
133 properties:
134 lines:
135 upperConstraint:
136 color: 'rgba(54, 162, 235, 1)' # blue
137 borderWidth: 2
138 pointRadius: 0
139 fill: false
140 showLine: true
141 lowerConstraint:
142 color: 'rgba(54, 162, 235, 1)' # blue
143 borderWidth: 4
144 pointRadius: 0
145 fill: false
146 showLine: true
147 planned:
148 color: 'rgba(225, 225, 225, 0.5)' # white
149 borderWidth: 4
150 pointRadius: 0
151 fill: false
152 showLine: true
153 limit:
154 color: 'rgba(255, 0, 0, 0.5)' # red
155 borderWidth: 4
156 pointRadius: 0
157 fill: false
158 showLine: true
159 datasets:
160 - name: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
161 graphTitle: Planning V-T Graph
162speedGraph:
163 title: 'Planning Speed'
164 options:
165 legend:
166 display: true
167 axes:
168 x:
169 min: -2
170 max: 10
171 labelString: 't (second)'
172 y:
173 min: -1
174 max: 40
175 labelString: 'speed (m/s)'
176 properties:
177 lines:
178 VehicleSpeed:
179 color: 'rgba(255, 0, 0, 0.8)' # red
180 borderWidth: 1
181 pointRadius: 1
182 fill: false
183 showLine: false
184 SpeedHeuristic:
185 color: 'rgba(27, 249, 105, 0.5)' # green
186 borderWidth: 2
187 pointRadius: 0
188 fill: false
189 showLine: true
190 PlannedSpeed:
191 color: 'rgba(54, 162, 235, 1)' # blue
192 borderWidth: 2
193 pointRadius: 0
194 fill: false
195 showLine: true
196accelerationGraph:
197 title: 'Planning Acceleration'
198 options:
199 legend:
200 display: false
201 axes:
202 x:
203 min: -2
204 max: 10
205 labelString: 't (second)'
206 y:
207 min: -4.0
208 max: 3.5
209 labelString: 'acceleration (m/s^2)'
210 properties:
211 lines:
212 acceleration:
213 color: 'rgba(255, 0, 0, 0.8)' # red
214 borderWidth: 2
215 pointRadius: 0
216 fill: false
217 showLine: true
218planningKappaGraph:
219 title: 'Planning Kappa'
220 options:
221 legend:
222 display: true
223 axes:
224 x:
225 labelString: 't (sec)'
226 y:
227 min: -0.2
228 max: 0.2
229 labelString: 'kappa'
230 properties:
231 lines:
232 Trajectory:
233 color: 'rgba(1, 209, 193, 0.8)' # Turkish green
234 borderWidth: 2
235 pointRadius: 0
236 fill: false
237 showLine: true
238referenceLineKappaGraph:
239 title: 'Reference Line Kappa'
240 options:
241 legend:
242 display: true
243 axes:
244 x:
245 labelString: 's (m)'
246 y:
247 min: -0.2
248 max: 0.2
249 labelString: 'kappa'
250 properties:
251 lines:
252 ReferenceLine:
253 color: 'rgba(255, 0, 0, 0.8)' # red
254 borderWidth: 2
255 pointRadius: 0
256 fill: false
257 showLine: true
258planningDkappaGraph:
259 title: 'Planning Kappa Derivative'
260 options:
261 legend:
262 display: true
263 axes:
264 x:
265 labelString: 't (sec)'
266 y:
267 min: -0.02
268 max: 0.02
269 labelString: 'dkappa'
270 properties:
271 lines:
272 Trajectory:
273 color: 'rgba(1, 209, 193, 0.8)' # Turkish green
274 borderWidth: 2
275 pointRadius: 0
276 fill: false
277 showLine: true
278referenceLineDkappaGraph:
279 title: 'Reference Line Kappa Derivative'
280 options:
281 legend:
282 display: true
283 axes:
284 x:
285 labelString: 's (m)'
286 y:
287 min: -0.02
288 max: 0.02
289 labelString: 'dkappa'
290 properties:
291 lines:
292 ReferenceLine:
293 color: 'rgba(255, 0, 0, 0.8)' # red
294 borderWidth: 2
295 pointRadius: 0
296 fill: false
297 showLine: true
298 PlannedSpeed:
299 color: 'rgba(54, 162, 235, 1)' # blue
300 borderWidth: 5
301 pointRadius: 0
302 fill: false
303 showLine: true
304planningThetaGraph:
305 title: 'Planning Theta'
306 options:
307 legend:
308 display: true
309 axes:
310 x:
311 labelString: 't (sec)'
312 y:
313 labelString: 'theta'
314 properties:
315 lines:
316 Trajectory:
317 color: 'rgba(1, 209, 193, 0.8)' # Turkish green
318 borderWidth: 2
319 pointRadius: 0
320 fill: false
321 showLine: true
322referenceLineThetaGraph:
323 title: 'Reference Line Theta'
324 options:
325 legend:
326 display: true
327 axes:
328 x:
329 labelString: 's (m)'
330 y:
331 labelString: 'theta'
332 properties:
333 lines:
334 ReferenceLine:
335 color: 'rgba(255, 0, 0, 0.8)' # red
336 borderWidth: 2
337 pointRadius: 0
338 fill: false
339 showLine: true