pnc_point.proto

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syntax = "proto2";
 
// Defined Point types that are commonly used in PnC (Planning and Control)
// modules.
 
package apollo.common;
 
message SLPoint {
  optional double s = 1;
  optional double l = 2;
}
 
message FrenetFramePoint {
  optional double s = 1;
  optional double l = 2;
  optional double dl = 3;
  optional double ddl = 4;
}
 
message SpeedPoint {
  optional double s = 1;
  optional double t = 2;
  // speed (m/s)
  optional double v = 3;
  // acceleration (m/s^2)
  optional double a = 4;
  // jerk (m/s^3)
  optional double da = 5;
}
 
message PathPoint {
  // coordinates
  optional double x = 1;
  optional double y = 2;
  optional double z = 3;
 
  // direction on the x-y plane
  optional double theta = 4;
  // curvature on the x-y planning
  optional double kappa = 5;
  // accumulated distance from beginning of the path
  optional double s = 6;
 
  // derivative of kappa w.r.t s.
  optional double dkappa = 7;
  // derivative of derivative of kappa w.r.t s.
  optional double ddkappa = 8;
  // The lane ID where the path point is on
  optional string lane_id = 9;
 
  // derivative of x and y w.r.t parametric parameter t in CosThetareferenceline
  optional double x_derivative = 10;
  optional double y_derivative = 11;
}
 
message Path {
  optional string name = 1;
  repeated PathPoint path_point = 2;
}
 
message TrajectoryPoint {
  // path point
  optional PathPoint path_point = 1;
  // linear velocity
  optional double v = 2;  // in [m/s]
  // linear acceleration
  optional double a = 3;
  // relative time from beginning of the trajectory
  optional double relative_time = 4;
  // longitudinal jerk
  optional double da = 5;
  // The angle between vehicle front wheel and vehicle longitudinal axis
  optional double steer = 6;
 
  // Gaussian probability information
  optional GaussianInfo gaussian_info = 7;
 
}
 
message Trajectory {
  optional string name = 1;
  repeated TrajectoryPoint trajectory_point = 2;
}
 
message VehicleMotionPoint {
  // trajectory point
  optional TrajectoryPoint trajectory_point = 1;
  // The angle between vehicle front wheel and vehicle longitudinal axis
  optional double steer = 2;
}
 
message VehicleMotion {
  optional string name = 1;
  repeated VehicleMotionPoint vehicle_motion_point = 2;
}
 
message GaussianInfo {
  // Information of gaussian distribution
  optional double sigma_x = 1;
  optional double sigma_y = 2;
  optional double correlation = 3;
  // Information of representative uncertainty area
  optional double area_probability = 4;
  optional double ellipse_a = 5;
  optional double ellipse_b = 6;
  optional double theta_a = 7;
}