open_space_trajectory_provider.proto

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syntax = "proto2";
 
import "modules/planning/planning_open_space/proto/planner_open_space_config.proto";
package apollo.planning;
 
message OpenSpaceTrajectoryProviderConfig {
  // TODO(Jinyun) Move PlannerOpenSpaceConfig to
  // OpenSpaceTrajectoryOptimizerConfig
  optional OpenSpaceTrajectoryOptimizerConfig
      open_space_trajectory_optimizer_config = 1;
  // estimated time for open space planner planning period
  optional double open_space_planning_period = 2 [default = 4.0];
  // Enable thread in open space planner for trajectory publish.
  optional bool enable_open_space_planner_thread = 3 [default = true];
  // preserved points number in trajectory stitching for open space trajectory
  optional double open_space_trajectory_stitching_preserved_length = 4 [default = inf];
  // (unit: meter/sec^2) for open space stand still at destination
  optional double open_space_standstill_acceleration = 5 [default = 0.0];
  optional double open_space_straight_trajectory_length = 6 [default = 0.0];
}
 
message OpenSpaceTrajectoryOptimizerConfig {
  enum TrajectorySmoother {
    ITERATIVE_ANCHORING_SMOOTHER = 0;
    DISTANCE_APPROACH = 1;
    USE_WARM_START = 2;
  }
  // Distance approach trajectory smoothing configs
  optional float delta_t = 4 [default = 0.5];
  optional double near_destination_threshold = 5 [default = 0.001];
  // (TODO:(QiL) tmp message during refactoring, deprecate when all tuning done.
  optional PlannerOpenSpaceConfig planner_open_space_config = 6;
}