config_gflags.cc

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/common/configs/config_gflags.h"
 
DEFINE_string(map_dir, "modules/map/data/sunnyvale_loop",
              "Directory which contains a group of related maps.");
DEFINE_int32(local_utm_zone_id, 10, "UTM zone id.");
 
DEFINE_string(test_base_map_filename, "",
              "If not empty, use this test base map files.");
 
DEFINE_string(base_map_filename, "base_map.bin|base_map.xml|base_map.txt",
              "Base map files in the map_dir, search in order.");
DEFINE_string(sim_map_filename, "sim_map.bin|sim_map.txt",
              "Simulation map files in the map_dir, search in order.");
DEFINE_string(routing_map_filename, "routing_map.bin|routing_map.txt",
              "Routing map files in the map_dir, search in order.");
DEFINE_string(end_way_point_filename, "default_end_way_point.txt",
              "End way point of the map, will be sent in RoutingRequest.");
DEFINE_string(default_routing_filename, "default_cycle_routing.txt",
              "Default cycle routing of the map, will be sent in Task to Task "
              "Manager Module.");
DEFINE_string(current_start_point_filename, "current_start_point.txt",
              "The current starting point of the vehicle. Setting the starting "
              "point in route editing will be reset.");
DEFINE_string(park_go_routing_filename, "park_go_routing.txt",
              "Park go routing of the map, support for dreamview contest.");
DEFINE_string(speed_control_filename, "speed_control.pb.txt",
              "The speed control region in a map.");
 
DEFINE_string(vehicle_config_path,
              "modules/common/data/vehicle_param.pb.txt",
              "the file path of vehicle config file");
 
DEFINE_string(
    vehicle_model_config_filename,
    "modules/common/vehicle_model/conf/vehicle_model_config.pb.txt",
    "the file path of vehicle model config file");
 
DEFINE_bool(use_cyber_time, false,
            "Whether Clock::Now() gets time from system_clock::now() or from "
            "Cyber.");
 
DEFINE_string(localization_tf2_frame_id, "world", "the tf2 transform frame id");
DEFINE_string(localization_tf2_child_frame_id, "localization",
              "the tf2 transform child frame id");
 
DEFINE_bool(use_navigation_mode, false,
            "Use relative position in navigation mode");
DEFINE_string(
    navigation_mode_end_way_point_file,
    "modules/dreamview/conf/navigation_mode_default_end_way_point.txt",
    "end_way_point file used if navigation mode is set.");
 
DEFINE_double(half_vehicle_width, 1.05, "half vehicle width");
 
DEFINE_double(look_forward_time_sec, 8.0,
              "look forward time times adc speed to calculate this distance "
              "when creating reference line from routing");
 
DEFINE_bool(use_sim_time, false, "Use bag time in mock time mode.");
 
DEFINE_bool(reverse_heading_vehicle_state, false,
            "test flag for reverse driving.");
 
DEFINE_bool(state_transform_to_com_reverse, false,
            "Enable vehicle states coordinate transformation from center of "
            "rear-axis to center of mass, during reverse driving");
DEFINE_bool(state_transform_to_com_drive, true,
            "Enable vehicle states coordinate transformation from center of "
            "rear-axis to center of mass, during forward driving");
DEFINE_bool(multithread_run, false,
            "multi-thread run flag mainly used by simulation");
 
// localization
DEFINE_bool(enable_map_reference_unify, true,
            "enable IMU data convert to map reference");