agent.proto

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syntax = "proto2";
 
package apollo.simulation;
 
message AgentConfig {
  optional int32 id = 1;
  optional string description = 2;
  optional double width = 3 [default = 2.0];
  optional double length = 4 [default = 5.0];
  optional double height = 5 [default = 1.8];
  enum Type {
    VEHICLE = 0;
    BICYCLE = 1;
    PEDESTRIAN = 2;
    UNKNOWN_UNMOVABLE = 3;
    UNKNOWN_MOVABLE = 4;
    BIG_TRUCK = 5;
  }
  optional Type type = 6;
 
  optional double appear_time = 7 [deprecated = true];
  optional double disappear_time = 8 [deprecated = true];
 
  message TrackedPoint {
    optional double x = 1;
    optional double y = 2;
    optional double heading = 3;
    optional double speed = 4;
    optional double acceleration = 5;
  }
  repeated TrackedPoint tracked_point = 9;
 
  // Static, lane follow and tracked objects.
  enum MotionType {
    STATIC = 0;
    LANE_FOLLOW = 1;  // not implemented
    TRACKED = 2;
  }
  optional MotionType motiontype = 10;
  optional double distance = 11;
 
  optional TrackedPoint start_position = 12;
  optional TrackedPoint end_position = 14;
  optional string start_lane = 15;
  optional string end_lane = 16;
 
  enum TriggerType {
    DISTANCE = 0;
    TIME = 1;
  }
  optional TriggerType trigger_type = 20;
  optional double start_distance =
      13;  // Start when distance from adc < start_distance
  optional double start_time = 21 [default = 0.0];
 
  // Whether the agent avoids rear-end collision
  optional bool avoid_rear_end_collision = 17 [default = true];
  optional double rear_end_collision_distance = 18
      [default = 3.0, deprecated = true];
 
  // When an obstacle approaches the adc at a certain distance,
  // it needs to decelerate.
  message NearCar {
    optional double distance = 1 [default = 20];
    optional double acceleration = 2 [default = -2];
    optional bool is_same_lane = 3 [default = false];
    optional bool only_include_behind = 4 [default = true];
  }
  optional NearCar near_car = 19;
 
  // Need to decelerate when an obstacle meets the crosswalk
  message NearCrosswalk {
    optional double distance = 1 [default = 15];
    optional double acceleration = 2 [default = -1];
  }
  optional NearCrosswalk near_crosswalk = 22;
}