open_space_trajectory_partition.proto

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syntax = "proto2";
 
package apollo.planning;
 
message OpenSpaceTrajectoryPartitionConfig {
  // Gear shift trajectory parameter
  optional double gear_shift_max_t = 1;
  optional double gear_shift_unit_t = 2;
  optional double gear_shift_period_duration = 3;
  optional uint64 interpolated_pieces_num = 4;
  optional uint64 initial_gear_check_horizon = 5;
  // @brief heading search range is the range to filter out too large
  // angle difference between vehicle heading and pathpoint heading
  optional double heading_search_range = 6;
  // @brief heading_track_range is the range to filter out too large
  // angle difference between vehicle heading and vehicle to pathpoint vector
  optional double heading_track_range = 7;
  optional double distance_search_range = 8 [default = 1.0e-6];
  // @brief IOU, intersection over union
  optional double heading_offset_to_midpoint = 9;
  optional double lateral_offset_to_midpoint = 10 [default = 0.1];
  optional double longitudinal_offset_to_midpoint = 11 [default = 0.1];
  optional double vehicle_box_iou_threshold_to_midpoint = 12 [default = 0.95];
  optional double linear_velocity_threshold_on_ego = 13 [default = 0.2];
  // allow some time for the vehicle to shift gear
  optional bool use_gear_shift_trajectory = 14 [default = false];
  optional double speed_replan_distance = 15 [default = 2.0]; 
}