Apollo
10.0
自动驾驶开放平台
navigation.proto
浏览该文件的文档.
1
syntax
=
"proto2"
;
2
3
package
apollo.relative_map;
4
5
import
"
modules/common_msgs/basic_msgs/header.proto
";
6
import
"
modules/common_msgs/basic_msgs/pnc_point.proto
";
7
import
"
modules/common_msgs/localization_msgs/localization.proto
";
8
import
"
modules/common_msgs/map_msgs/map.proto
";
9
import
"
modules/common_msgs/perception_msgs/perception_obstacle.proto
";
10
11
message
NavigationPath
{
12
optional
apollo
.
common
.
Path
path = 1;
13
// highest = 0 which can directly reach destination; change lane indicator
14
optional uint32 path_priority = 2;
15
}
16
17
message
NavigationInfo
{
18
optional
apollo
.
common
.
Header
header = 1;
19
repeated
NavigationPath
navigation_path = 2;
20
}
21
22
// The map message in transmission format.
23
message
MapMsg
{
24
optional
apollo
.
common
.
Header
header = 1;
25
26
// Coordination: FLU
27
// x: Forward
28
// y: Left
29
// z: Up
30
optional
apollo
.
hdmap
.
Map
hdmap = 2;
31
32
// key: type string; the lane id in Map
33
// value: Navigation path; the reference line of the lane
34
map<string, NavigationPath> navigation_path = 3;
35
36
// lane marker info from perception
37
optional
apollo
.
perception
.
LaneMarkers
lane_marker = 4;
38
39
// localization
40
optional
apollo
.
localization
.
LocalizationEstimate
localization = 5;
41
}
header.proto
localization.proto
map.proto
apollo::common
apollo::common
apollo::hdmap
apollo::hdmap
Definition
map.proto:3
apollo::localization
apollo::localization
Definition
gps.proto:3
apollo::perception
apollo::perception
Definition
perception_barrier_gate.proto:3
apollo
class register implement
Definition
arena_queue.h:37
syntax
syntax
Definition
navigation.proto:1
perception_obstacle.proto
pnc_point.proto
apollo::common::Header
Definition
header.proto:7
apollo::common::Path
Definition
pnc_point.proto:56
apollo::hdmap::Map
Definition
map.proto:44
apollo::localization::LocalizationEstimate
Definition
localization.proto:48
apollo::perception::LaneMarkers
Definition
perception_obstacle.proto:191
apollo::relative_map::MapMsg
Definition
navigation.proto:23
apollo::relative_map::NavigationInfo
Definition
navigation.proto:17
apollo::relative_map::NavigationPath
Definition
navigation.proto:11
modules
common_msgs
planning_msgs
navigation.proto