obstacle_nudge_decider.proto

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syntax = "proto2";
 
package apollo.planning;
 
message ObstacleNudgeDeciderConfig {
  // whether to nudge static obstacle
  optional bool enbale_nugde_static_obs = 1;
  // where to nudge dynamic obstacle
  optional bool enbale_nugde_dynamic_obs = 2;
  // nudge obstacle forward check distance
  optional double min_forward_check_dis = 3;
  optional double max_forward_check_dis = 4;
  // left nudge max lateral distance
  optional double max_lateral_left_nudge_dis = 5;
  // right nudge max lateral distance
  optional double max_lateral_right_nudge_dis = 6;
  // buffer for expand obstacle polygon
  optional double expand_polygon_buffer = 7;
  // obs passable check buffer
  optional double obs_passable_buffer = 8;
  // nudge static obstacle time out threshold
  optional double obs_nudge_time_out_threshold = 9;
 
  optional double obs_clean_time_out_threshold = 10;
 
  optional double full_nudge_buffer = 11;
 
  optional double nudge_key_point_extend_length_coefficient = 12;
}