navigator_config.proto

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syntax = "proto2";
 
package apollo.relative_map;
 
message SampleParam {
  // Sampling interval for a straight line.
  optional double straight_sample_interval = 1 [default = 3.0];
  // Sampling interval for a curve segment with a small curvature.
  optional double small_kappa_sample_interval = 2 [default = 1.0];
  // Sampling interval for a curve segment with a middle curvature.
  optional double middle_kappa_sample_interval = 3 [default = 0.4];
  // Sampling interval for a curve segment with a large curvature.
  optional double large_kappa_sample_interval = 4 [default = 0.1];
  // Small curvature threshold.
  optional double small_kappa = 5 [default = 0.002];
  // Middle curvature threshold.
  optional double middle_kappa = 6 [default = 0.008];
  // Large curvature threshold.
  optional double large_kappa = 7 [default = 0.02];
}
 
message NavigatorConfig {
  // When a navigation line is sent, the original data is downsampled to reduce
  // unnecessary memory consumption.
  optional bool enable_navigator_downsample = 1 [default = true];
  // Smapling paramters.
  optional SampleParam sample_param = 2;
}