pipeline.pb.txt

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stage: {
  name: "TRAFFIC_LIGHT_PROTECTED_APPROACH"
  type: "TrafficLightProtectedStageApproach"
  enabled: true
  task {
    name: "LANE_FOLLOW_PATH"
    type: "LaneFollowPath"
  }
  task {
    name: "LANE_BORROW_PATH"
    type: "LaneBorrowPath"
  }
  task {
    name: "FALLBACK_PATH"
    type: "FallbackPath"
  }
  task {
    name: "PATH_DECIDER"
    type: "PathDecider"
  }
  task {
    name: "RULE_BASED_STOP_DECIDER"
    type: "RuleBasedStopDecider"
  }
  task {
    name: "ST_BOUNDS_DECIDER"
    type: "STBoundsDecider"
  }
  task {
    name: "SPEED_BOUNDS_PRIORI_DECIDER"
    type: "SpeedBoundsDecider"
  }
  task {
    name: "SPEED_HEURISTIC_OPTIMIZER"
    type: "PathTimeHeuristicOptimizer"
  }
  task {
    name: "SPEED_DECIDER"
    type: "SpeedDecider"
  }
  task {
    name: "SPEED_BOUNDS_FINAL_DECIDER"
    type: "SpeedBoundsDecider"
  }
  task {
    name: "PIECEWISE_JERK_SPEED"
    type: "PiecewiseJerkSpeedOptimizer"
  }
}
stage: {
  name: "TRAFFIC_LIGHT_PROTECTED_INTERSECTION_CRUISE"
  type: "TrafficLightProtectedStageIntersectionCruise"
  enabled: true
  task {
    name: "LANE_FOLLOW_PATH"
    type: "LaneFollowPath"
  }
  task {
    name: "LANE_BORROW_PATH"
    type: "LaneBorrowPath"
  }
  task {
    name: "FALLBACK_PATH"
    type: "FallbackPath"
  }
  task {
    name: "PATH_DECIDER"
    type: "PathDecider"
  }
  task {
    name: "RULE_BASED_STOP_DECIDER"
    type: "RuleBasedStopDecider"
  }
  task {
    name: "ST_BOUNDS_DECIDER"
    type: "STBoundsDecider"
  }
  task {
    name: "SPEED_BOUNDS_PRIORI_DECIDER"
    type: "SpeedBoundsDecider"
  }
  task {
    name: "SPEED_HEURISTIC_OPTIMIZER"
    type: "PathTimeHeuristicOptimizer"
  }
  task {
    name: "SPEED_DECIDER"
    type: "SpeedDecider"
  }
  task {
    name: "SPEED_BOUNDS_FINAL_DECIDER"
    type: "SpeedBoundsDecider"
  }
  task {
    name: "PIECEWISE_JERK_SPEED"
    type: "PiecewiseJerkSpeedOptimizer"
  }
}