result_follow_01_0.pb.txt

浏览该文件的文档.

header {
  timestamp_sec: 1504824839.5322316
  lidar_timestamp: 0
  camera_timestamp: 0
  radar_timestamp: 0
}
total_path_length: 47.431610803737122
total_path_time: 6.999999999999992
is_replan: true
gear: GEAR_DRIVE
trajectory_point {
  path_point {
    x: 587270.49207101739
    y: 4140989.3243672047
    theta: -1.9411706451859017
    kappa: -0.027389629812575752
    s: 2.6072575486920117e-06
    dkappa: 7.5855200662919269e-08
    ddkappa: 0
  }
  v: 7.09707138851101
  a: -0.029338099515292461
  relative_time: 0
}
trajectory_point {
  path_point {
    x: 587270.4398889126
    y: 4140989.1923339614
    theta: -1.9419986490904297
    kappa: -0.023266505588510605
    s: 0.14197355313971882
    dkappa: 0.0041305594714429825
    ddkappa: 0
  }
  v: 7.09823608657163
  a: 0.0056625236475104021
  relative_time: 0.02
}
trajectory_point {
  path_point {
    x: 587270.38770680781
    y: 4140989.0603007181
    theta: -1.942826652994958
    kappa: -0.019143381364445457
    s: 0.28394449902188895
    dkappa: 0.0082610430876853026
    ddkappa: 0
  }
  v: 7.09940078463225
  a: 0.040663146810313265
  relative_time: 0.04
}
trajectory_point {
  path_point {
    x: 587270.335524703
    y: 4140988.9282674748
    theta: -1.9436546568994861
    kappa: -0.015020257140380312
    s: 0.42591544490405908
    dkappa: 0.012391526703927624
    ddkappa: 0
  }
  v: 7.1005654826928692
  a: 0.075663769973116135
  relative_time: 0.06
}
trajectory_point {
  path_point {
    x: 587270.28334259812
    y: 4140988.7962342305
    theta: -1.9444826608040144
    kappa: -0.010897132916315165
    s: 0.56788639078622916
    dkappa: 0.016522010320169943
    ddkappa: 0
  }
  v: 7.1017301807534894
  a: 0.110664393135919
  relative_time: 0.08
}
trajectory_point {
  path_point {
    x: 587270.23116049333
    y: 4140988.6642009872
    theta: -1.9453106647085425
    kappa: -0.0067740086922500132
    s: 0.70985733666839934
    dkappa: 0.020652493936412265
    ddkappa: 0
  }
  v: 7.1028948788141095
  a: 0.14566501629872189
  relative_time: 0.1
}
trajectory_point {
  path_point {
    x: 587270.17889323563
    y: 4140988.5319522861
    theta: -1.9461400197840235
    kappa: -0.0026441561838671658
    s: 0.85205995660083778
    dkappa: 0.02478971784633225
    ddkappa: 0
  }
  v: 7.1057664969005
  a: 0.14478636310870976
  relative_time: 0.12000000000000001
}
trajectory_point {
  path_point {
    x: 587270.12662597781
    y: 4140988.3997035855
    theta: -1.9469693748595045
    kappa: 0.0014856963245156861
    s: 0.99426257653327621
    dkappa: 0.028926941756252236
    ddkappa: 0
  }
  v: 7.1086381149868911
  a: 0.14390770991869761
  relative_time: 0.14
}
trajectory_point {
  path_point {
    x: 587270.0744126573
    y: 4140988.2674335809
    theta: -1.9468152986660787
    kappa: 0.0017032278714969183
    s: 1.1364651964657146
    dkappa: 0.025122751312395088
    ddkappa: 0
  }
  v: 7.1115097330732828
  a: 0.14302905672868549
  relative_time: 0.16
}
trajectory_point {
  path_point {
    x: 587270.02220087987
    y: 4140988.1351629663
    theta: -1.9466330832852541
    kappa: 0.0018088151106474687
    s: 1.2786678163981531
    dkappa: 0.021091331011427305
    ddkappa: 0
  }
  v: 7.1143813511596736
  a: 0.14215040353867334
  relative_time: 0.18
}
trajectory_point {
  path_point {
    x: 587269.96998910257
    y: 4140988.0028923517
    theta: -1.9464508679044297
    kappa: 0.0019144023497980193
    s: 1.4208704363305915
    dkappa: 0.017059910710459526
    ddkappa: 0
  }
  v: 7.1172529692460644
  a: 0.14127175034866121
  relative_time: 0.19999999999999998
}
trajectory_point {
  path_point {
    x: 587269.91767495626
    y: 4140987.870362401
    theta: -1.9462682952630184
    kappa: 0.002020196608569285
    s: 1.5633518658301704
    dkappa: 0.013020586205268163
    ddkappa: 0
  }
  v: 7.1199179160083972
  a: 0.13801792040029737
  relative_time: 0.21999999999999997
}
trajectory_point {
  path_point {
    x: 587269.86536081
    y: 4140987.7378324503
    theta: -1.9460857226216068
    kappa: 0.0021259908673405504
    s: 1.7058332953297493
    dkappa: 0.0089812617000768011
    ddkappa: 0
  }
  v: 7.12258286277073
  a: 0.13476409045193352
  relative_time: 0.23999999999999996
}
trajectory_point {
  path_point {
    x: 587269.81304666353
    y: 4140987.6053024996
    theta: -1.9459031499801955
    kappa: 0.0022317851261118159
    s: 1.8483147248293283
    dkappa: 0.0049419371948854363
    ddkappa: 0
  }
  v: 7.1252478095330618
  a: 0.13151026050356965
  relative_time: 0.25999999999999995
}
trajectory_point {
  path_point {
    x: 587269.76073251723
    y: 4140987.4727725489
    theta: -1.945720577338784
    kappa: 0.0023375793848830818
    s: 1.9907961543289074
    dkappa: 0.00090261268969406977
    ddkappa: 0
  }
  v: 7.1279127562953946
  a: 0.1282564305552058
  relative_time: 0.27999999999999997
}
trajectory_point {
  path_point {
    x: 587269.70871593384
    y: 4140987.3401255412
    theta: -1.9453458741585503
    kappa: 0.0024410525889230344
    s: 2.1332775838284865
    dkappa: 0.00074019141638576318
    ddkappa: 0
  }
  v: 7.1305777030577273
  a: 0.12500260060684193
  relative_time: 0.3
}
trajectory_point {
  path_point {
    x: 587269.65662019642
    y: 4140987.2072404716
    theta: -1.944962568777864
    kappa: 0.0025446117602477177
    s: 2.2760095265629849
    dkappa: 0.00073777016987673226
    ddkappa: 0
  }
  v: 7.1329258130668984
  a: 0.12192187070562059
  relative_time: 0.32
}
trajectory_point {
  path_point {
    x: 587269.60452445911
    y: 4140987.0743554034
    theta: -1.9445792633971775
    kappa: 0.0026481709315724009
    s: 2.4187414692974833
    dkappa: 0.00073534892336770124
    ddkappa: 0
  }
  v: 7.1352739230760687
  a: 0.11884114080439924
  relative_time: 0.34
}
trajectory_point {
  path_point {
    x: 587269.55242872168
    y: 4140986.9414703338
    theta: -1.9441959580164909
    kappa: 0.0027517301028970841
    s: 2.5614734120319822
    dkappa: 0.0007329276768586701
    ddkappa: 0
  }
  v: 7.13762203308524
  a: 0.1157604109031779
  relative_time: 0.36000000000000004
}
trajectory_point {
  path_point {
    x: 587269.50033298426
    y: 4140986.8085852647
    theta: -1.9438126526358044
    kappa: 0.0028552892742217677
    s: 2.7042053547664806
    dkappa: 0.00073050643034963908
    ddkappa: 0
  }
  v: 7.13997014309441
  a: 0.11267968100195655
  relative_time: 0.38000000000000006
}
trajectory_point {
  path_point {
    x: 587269.44823724683
    y: 4140986.6757001951
    theta: -1.9434293472551178
    kappa: 0.0029588484455464505
    s: 2.846937297500979
    dkappa: 0.00072808518384060794
    ddkappa: 0
  }
  v: 7.1423182531035811
  a: 0.1095989511007352
  relative_time: 0.40000000000000008
}
trajectory_point {
  path_point {
    x: 587269.39606132812
    y: 4140986.5426106011
    theta: -1.9430454519235738
    kappa: 0.0030625670062901485
    s: 2.9898889210337725
    dkappa: 0.00072566021075604113
    ddkappa: 0
  }
  v: 7.1443664227730119
  a: 0.10668287798847229
  relative_time: 0.4200000000000001
}
trajectory_point {
  path_point {
    x: 587269.344276927
    y: 4140986.4093682123
    theta: -1.9425835164205663
    kappa: 0.0031614997478646295
    s: 3.1328405445665664
    dkappa: 0.00072076714387194071
    ddkappa: 0
  }
  v: 7.1464145924424436
  a: 0.10376680487620937
  relative_time: 0.44000000000000011
}
trajectory_point {
  path_point {
    x: 587269.292511154
    y: 4140986.2761185542
    theta: -1.94211786780123
    kappa: 0.0032602047823112423
    s: 3.2757921680993602
    dkappa: 0.00071575664619270818
    ddkappa: 0
  }
  v: 7.1484627621118744
  a: 0.10085073176394646
  relative_time: 0.46000000000000013
}
trajectory_point {
  path_point {
    x: 587269.240745381
    y: 4140986.142868896
    theta: -1.9416522191818939
    kappa: 0.0033589098167578551
    s: 3.4187437916321537
    dkappa: 0.00071074614851347577
    ddkappa: 0
  }
  v: 7.150510931781306
  a: 0.097934658651683534
  relative_time: 0.48000000000000015
}
trajectory_point {
  path_point {
    x: 587269.18897960812
    y: 4140986.0096192379
    theta: -1.9411865705625579
    kappa: 0.0034576148512044675
    s: 3.5616954151649471
    dkappa: 0.00070573565083424314
    ddkappa: 0
  }
  v: 7.1525591014507368
  a: 0.095018585539420636
  relative_time: 0.50000000000000011
}
trajectory_point {
  path_point {
    x: 587269.13714485324
    y: 4140985.8761920137
    theta: -1.9407203014302188
    kappa: 0.0035564514177866512
    s: 3.7048375328547212
    dkappa: 0.000700718476277142
    ddkappa: 0
  }
  v: 7.1543233283384282
  a: 0.092257644881675038
  relative_time: 0.52000000000000013
}
trajectory_point {
  path_point {
    x: 587269.08531009837
    y: 4140985.74276479
    theta: -1.9402540322978798
    kappa: 0.0036552879843688348
    s: 3.8479796505444952
    dkappa: 0.00069570130172004073
    ddkappa: 0
  }
  v: 7.15608755522612
  a: 0.089496704223929455
  relative_time: 0.54000000000000015
}
trajectory_point {
  path_point {
    x: 587269.03347534349
    y: 4140985.6093375664
    theta: -1.9397877631655409
    kappa: 0.0037541245509510189
    s: 3.9911217682342692
    dkappa: 0.00069068412716293947
    ddkappa: 0
  }
  v: 7.1578517821138119
  a: 0.086735763566183871
  relative_time: 0.56000000000000016
}
trajectory_point {
  path_point {
    x: 587268.98212204024
    y: 4140985.4757243455
    theta: -1.9392463430312694
    kappa: 0.0038476833949163754
    s: 4.1342638859240433
    dkappa: 0.00068520823928901338
    ddkappa: 0
  }
  v: 7.1596160090015033
  a: 0.083974822908438274
  relative_time: 0.58000000000000018
}
trajectory_point {
  path_point {
    x: 587268.93078930362
    y: 4140985.3421031795
    theta: -1.9387017125809867
    kappa: 0.0039410167840376919
    s: 4.2774060036138177
    dkappa: 0.00067971275600494307
    ddkappa: 0
  }
  v: 7.1613802358891947
  a: 0.08121388225069269
  relative_time: 0.6000000000000002
}
trajectory_point {
  path_point {
    x: 587268.87939816422
    y: 4140985.2083299886
    theta: -1.9381564624875609
    kappa: 0.0040344563614827661
    s: 4.4207109785798542
    dkappa: 0.000674211020337201
    ddkappa: 0
  }
  v: 7.1628754921979878
  a: 0.078597121076212154
  relative_time: 0.62000000000000022
}
trajectory_point {
  path_point {
    x: 587268.82800702483
    y: 4140985.0745567977
    theta: -1.9376112123941351
    kappa: 0.00412789593892784
    s: 4.5640159535458906
    dkappa: 0.000668709284669459
    ddkappa: 0
  }
  v: 7.1643707485067809
  a: 0.0759803599017316
  relative_time: 0.64000000000000024
}
trajectory_point {
  path_point {
    x: 587268.77661588544
    y: 4140984.9407836068
    theta: -1.9370659623007096
    kappa: 0.0042213355163729146
    s: 4.7073209285119271
    dkappa: 0.000663207549001717
    ddkappa: 0
  }
  v: 7.1658660048155731
  a: 0.073363598727251067
  relative_time: 0.66000000000000025
}
trajectory_point {
  path_point {
    x: 587268.725224746
    y: 4140984.8070104155
    theta: -1.9365207122072838
    kappa: 0.0043147750938179888
    s: 4.8506259034779635
    dkappa: 0.0006577058133339749
    ddkappa: 0
  }
  v: 7.1673612611243662
  a: 0.070746837552770531
  relative_time: 0.68000000000000027
}
trajectory_point {
  path_point {
    x: 587268.67383360653
    y: 4140984.6732372246
    theta: -1.9359754621138581
    kappa: 0.0044082146712630631
    s: 4.993930878444
    dkappa: 0.0006522040776662328
    ddkappa: 0
  }
  v: 7.1688565174331593
  a: 0.06813007637829
  relative_time: 0.70000000000000029
}
trajectory_point {
  path_point {
    x: 587268.62296498974
    y: 4140984.5391183412
    theta: -1.9353572649586779
    kappa: 0.0044959574263789487
    s: 5.137372514923694
    dkappa: 0.0006462593108872601
    ddkappa: 0
  }
  v: 7.1700966423852019
  a: 0.065645796914437712
  relative_time: 0.72000000000000031
}
trajectory_point {
  path_point {
    x: 587268.57211469347
    y: 4140984.4049924659
    theta: -1.9347367461345524
    kappa: 0.0045835147120170273
    s: 5.2808141514033879
    dkappa: 0.00064030051081588471
    ddkappa: 0
  }
  v: 7.1713367673372446
  a: 0.063161517450585444
  relative_time: 0.74000000000000032
}
trajectory_point {
  path_point {
    x: 587268.52126439731
    y: 4140984.2708665906
    theta: -1.9341162273104271
    kappa: 0.004671071997655105
    s: 5.4242557878830819
    dkappa: 0.00063434171074450922
    ddkappa: 0
  }
  v: 7.1725768922892881
  a: 0.060677237986733162
  relative_time: 0.76000000000000034
}
trajectory_point {
  path_point {
    x: 587268.470414101
    y: 4140984.1367407152
    theta: -1.9334957084863016
    kappa: 0.0047586292832931844
    s: 5.5676974243627768
    dkappa: 0.00062838291067313372
    ddkappa: 0
  }
  v: 7.1738170172413307
  a: 0.05819295852288088
  relative_time: 0.78000000000000036
}
trajectory_point {
  path_point {
    x: 587268.41956380475
    y: 4140984.00261484
    theta: -1.9328751896621763
    kappa: 0.0048461865689312629
    s: 5.7111390608424708
    dkappa: 0.00062242411060175833
    ddkappa: 0
  }
  v: 7.1750571421933733
  a: 0.055708679059028605
  relative_time: 0.80000000000000038
}
trajectory_point {
  path_point {
    x: 587268.36867387826
    y: 4140983.868384433
    theta: -1.932254187236516
    kappa: 0.0049338120923666171
    s: 5.85469248860532
    dkappa: 0.0006164606665377293
    ddkappa: 0
  }
  v: 7.1760548099201173
  a: 0.053345309872159304
  relative_time: 0.8200000000000004
}
trajectory_point {
  path_point {
    x: 587268.31778395188
    y: 4140983.7341540265
    theta: -1.9316331848108557
    kappa: 0.005021437615801972
    s: 5.9982459163681687
    dkappa: 0.00061049722247370015
    ddkappa: 0
  }
  v: 7.1770524776468614
  a: 0.050981940685289995
  relative_time: 0.84000000000000041
}
trajectory_point {
  path_point {
    x: 587268.26755607547
    y: 4140983.5996745145
    theta: -1.9309427551186202
    kappa: 0.0051027208407484212
    s: 6.1417993441310177
    dkappa: 0.0006040799111644503
    ddkappa: 0
  }
  v: 7.1780501453736054
  a: 0.048618571498420693
  relative_time: 0.86000000000000043
}
trajectory_point {
  path_point {
    x: 587268.21733876318
    y: 4140983.4651910285
    theta: -1.9302512176013737
    kappa: 0.0051839028640022038
    s: 6.2853527718938675
    dkappa: 0.000597655357664764
    ddkappa: 0
  }
  v: 7.1790478131003495
  a: 0.046255202311551391
  relative_time: 0.88000000000000045
}
trajectory_point {
  path_point {
    x: 587268.16712145088
    y: 4140983.3307075421
    theta: -1.9295596800841273
    kappa: 0.0052650848872559872
    s: 6.4289061996567165
    dkappa: 0.00059123080416507762
    ddkappa: 0
  }
  v: 7.1800454808270935
  a: 0.043891833124682089
  relative_time: 0.90000000000000047
}
trajectory_point {
  path_point {
    x: 587268.11687330948
    y: 4140983.1961414944
    theta: -1.9288677180234395
    kappa: 0.00534631674915865
    s: 6.5725477566456574
    dkappa: 0.00058480230655247973
    ddkappa: 0
  }
  v: 7.1808121685801938
  a: 0.041637011325182618
  relative_time: 0.92000000000000048
}
trajectory_point {
  path_point {
    x: 587268.0666251682
    y: 4140983.0615754467
    theta: -1.9281757559627519
    kappa: 0.0054275486110613143
    s: 6.7161893136345991
    dkappa: 0.000578373808939882
    ddkappa: 0
  }
  v: 7.181578856333295
  a: 0.039382189525683155
  relative_time: 0.9400000000000005
}
trajectory_point {
  path_point {
    x: 587268.0163770268
    y: 4140982.9270093986
    theta: -1.9274837939020641
    kappa: 0.0055087804729639783
    s: 6.8598308706235409
    dkappa: 0.00057194531132728408
    ddkappa: 0
  }
  v: 7.1823455440863953
  a: 0.037127367726183691
  relative_time: 0.96000000000000052
}
trajectory_point {
  path_point {
    x: 587267.96612900554
    y: 4140982.7924433067
    theta: -1.9267917800520538
    kappa: 0.0055900112057131381
    s: 7.0034724276124827
    dkappa: 0.00056551670918706276
    ddkappa: 0
  }
  v: 7.1831122318394964
  a: 0.03487254592668422
  relative_time: 0.98000000000000054
}
trajectory_point {
  path_point {
    x: 587267.91663877526
    y: 4140982.6575966747
    theta: -1.9257728893248873
    kappa: 0.0056641150993479812
    s: 7.1471139846014236
    dkappa: 0.000558428363661639
    ddkappa: 0
  }
  v: 7.1838789195925967
  a: 0.03261772412718477
  relative_time: 1.0000000000000004
}
trajectory_point {
  path_point {
    x: 587267.66907462268
    y: 4140981.9830556242
    theta: -1.9206761092642
    kappa: 0.0060348037683358741
    s: 7.86564974513726
    dkappa: 0.0005229704512732115
    ddkappa: 0
  }
  v: 7.1866149709411742
  a: 0.021950735357115298
  relative_time: 1.1000000000000005
}
trajectory_point {
  path_point {
    x: 587267.424789608
    y: 4140981.3070870815
    theta: -1.9162216587491321
    kappa: 0.0063759720841415311
    s: 8.58440687792947
    dkappa: 0.0004863909426040345
    ddkappa: 0
  }
  v: 7.1883173670486684
  a: 0.011951665719835067
  relative_time: 1.2000000000000006
}
trajectory_point {
  path_point {
    x: 587267.18309793063
    y: 4140980.6300598681
    theta: -1.91182087385077
    kappa: 0.0066941593067654645
    s: 9.3032852465924716
    dkappa: 0.00044881609617072893
    ddkappa: 0
  }
  v: 7.1890496559916022
  a: 0.0025550815234621394
  relative_time: 1.3000000000000007
}
trajectory_point {
  path_point {
    x: 587266.94408353721
    y: 4140979.9520501816
    theta: -1.9072616755710159
    kappa: 0.0069889778467979724
    s: 10.022190763845579
    dkappa: 0.00041017538824911855
    ddkappa: 0
  }
  v: 7.1888694742381771
  a: -0.0062916746120800981
  relative_time: 1.4000000000000008
}
trajectory_point {
  path_point {
    x: 587266.70981451788
    y: 4140979.272451187
    theta: -1.9024694810220866
    kappa: 0.00724319013634803
    s: 10.741034813348467
    dkappa: 0.00036961544702735654
    ddkappa: 0
  }
  v: 7.1878283027718242
  a: -0.01465900946814554
  relative_time: 1.5000000000000009
}
trajectory_point {
  path_point {
    x: 587266.47862377518
    y: 4140978.5919571938
    theta: -1.8975544342716011
    kappa: 0.0074715159627277037
    s: 11.459733567081731
    dkappa: 0.00032795998881137529
    ddkappa: 0
  }
  v: 7.1859703480540809
  a: -0.0226220446927094
  relative_time: 1.600000000000001
}
trajectory_point {
  path_point {
    x: 587266.25054919079
    y: 4140977.9106485234
    theta: -1.8925250622615244
    kappa: 0.0076738461490248842
    s: 12.178207267393216
    dkappa: 0.00028524952454270778
    ddkappa: 0
  }
  v: 7.1833330575428667
  a: -0.030240734730449918
  relative_time: 1.7000000000000011
}
trajectory_point {
  path_point {
    x: 587266.02670848928
    y: 4140977.2282506833
    theta: -1.8873614138356933
    kappa: 0.00784089653329567
    s: 12.896379581148951
    dkappa: 0.00024120543917897008
    ddkappa: 0
  }
  v: 7.1799472677856553
  a: -0.03758730164893806
  relative_time: 1.8000000000000012
}
trajectory_point {
  path_point {
    x: 587265.80731306644
    y: 4140976.5448082294
    theta: -1.8802945374713178
    kappa: 0.0079705936010268548
    s: 13.614176881423941
    dkappa: 0.00019571426025380455
    ddkappa: 0
  }
  v: 7.1758361060678837
  a: -0.044743735847616171
  relative_time: 1.9000000000000012
}
trajectory_point {
  path_point {
    x: 587265.59136073815
    y: 4140975.8607410183
    theta: -1.8735844122380523
    kappa: 0.00807194669126861
    s: 14.331527464281118
    dkappa: 0.00014899479167697924
    ddkappa: 0
  }
  v: 7.1710151069044255
  a: -0.051779853866892059
  relative_time: 2.0000000000000013
}
trajectory_point {
  path_point {
    x: 587265.37898970279
    y: 4140975.1760887392
    theta: -1.8681163073572387
    kappa: 0.008144044693427669
    s: 15.048360917518465
    dkappa: 0.0001009427373833728
    ddkappa: 0
  }
  v: 7.1654954441679388
  a: -0.05871300379766143
  relative_time: 2.1000000000000014
}
trajectory_point {
  path_point {
    x: 587265.17234442488
    y: 4140974.4902993264
    theta: -1.8626085225013198
    kappa: 0.0081681079023362083
    s: 15.764607835479248
    dkappa: 5.2949045873212913e-05
    ddkappa: 0
  }
  v: 7.1592858288434575
  a: -0.06557495467104936
  relative_time: 2.2000000000000015
}
trajectory_point {
  path_point {
    x: 587264.96922684775
    y: 4140973.8041461529
    theta: -1.8571011592848294
    kappa: 0.0081629196675947237
    s: 16.480199402164395
    dkappa: 4.4282975587971675e-06
    ddkappa: 0
  }
  v: 7.1523881299454368
  a: -0.072471007068195023
  relative_time: 2.3000000000000016
}
trajectory_point {
  path_point {
    x: 587264.7696389053
    y: 4140973.1177099943
    theta: -1.8516022568859551
    kappa: 0.0081284698741322346
    s: 17.195066465039
    dkappa: -4.4587623153680213e-05
    ddkappa: 0
  }
  v: 7.14479377786222
  a: -0.0795046134907515
  relative_time: 2.4000000000000017
}
trajectory_point {
  path_point {
    x: 587264.5748830433
    y: 4140972.430709972
    theta: -1.846136854224385
    kappa: 0.0080529459076922744
    s: 17.909138504219932
    dkappa: -9.42012299250658e-05
    ddkappa: 0
  }
  v: 7.1364840637575027
  a: -0.0867751074605749
  relative_time: 2.5000000000000018
}
trajectory_point {
  path_point {
    x: 587264.38461003266
    y: 4140971.7433597045
    theta: -1.8407342876554948
    kappa: 0.0079387535448376886
    s: 18.622342629894156
    dkappa: -0.00014425129920423121
    ddkappa: 0
  }
  v: 7.1274302769261366
  a: -0.094383268526481351
  relative_time: 2.6000000000000019
}
trajectory_point {
  path_point {
    x: 587264.19779688364
    y: 4140971.0560403685
    theta: -1.8353969559785328
    kappa: 0.00779490723925478
    s: 19.33460257529962
    dkappa: -0.00019455063681592761
    ddkappa: 0
  }
  v: 7.1175935605239768
  a: -0.10243109107072891
  relative_time: 2.700000000000002
}
trajectory_point {
  path_point {
    x: 587264.01475105423
    y: 4140970.3687634277
    theta: -1.8301421230589281
    kappa: 0.0076183802024718267
    s: 20.045837676623496
    dkappa: -0.00024507781111929679
    ddkappa: 0
  }
  v: 7.1069248145840209
  a: -0.11102143551726722
  relative_time: 2.800000000000002
}
trajectory_point {
  path_point {
    x: 587263.83691312268
    y: 4140969.6812692117
    theta: -1.8250433723960067
    kappa: 0.0073940991680336368
    s: 20.75596184494206
    dkappa: -0.00029590338557633993
    ddkappa: 0
  }
  v: 7.0953646270119926
  a: -0.12025767863048024
  relative_time: 2.9000000000000021
}
trajectory_point {
  path_point {
    x: 587263.66232106241
    y: 4140968.9941888712
    theta: -1.818963801347129
    kappa: 0.0071405100084780456
    s: 21.464882532902621
    dkappa: -0.00034656694834628754
    ddkappa: 0
  }
  v: 7.0828432365817777
  a: -0.13024342353030127
  relative_time: 3.0000000000000022
}
trajectory_point {
  path_point {
    x: 587263.49092338816
    y: 4140968.3076449689
    theta: -1.8122060356537717
    kappa: 0.0068579075490060887
    s: 22.172499528484526
    dkappa: -0.00039727856118380086
    ddkappa: 0
  }
  v: 7.0692754186655362
  a: -0.14118461100734342
  relative_time: 3.1000000000000023
}
trajectory_point {
  path_point {
    x: 587263.32425418159
    y: 4140967.6213908023
    theta: -1.8077086989332336
    kappa: 0.0065276710399569029
    s: 22.878703043726308
    dkappa: -0.00045014836734180383
    ddkappa: 0
  }
  v: 7.0545546324369734
  a: -0.15330145956064664
  relative_time: 3.2000000000000024
}
trajectory_point {
  path_point {
    x: 587263.16089226212
    y: 4140966.935922924
    theta: -1.8034307282971176
    kappa: 0.0061636079651924266
    s: 23.583371668880094
    dkappa: -0.00050198118963154471
    ddkappa: 0
  }
  v: 7.0385563175511905
  a: -0.16673416117491008
  relative_time: 3.3000000000000025
}
trajectory_point {
  path_point {
    x: 587263.00033905834
    y: 4140966.2515053675
    theta: -1.7993529560063048
    kappa: 0.0057708923091362744
    s: 24.286370842434639
    dkappa: -0.00055330799713469118
    ddkappa: 0
  }
  v: 7.0211420535885916
  a: -0.18161977019545855
  relative_time: 3.4000000000000026
}
trajectory_point {
  path_point {
    x: 587262.84325047943
    y: 4140965.5681478577
    theta: -1.795558640764982
    kappa: 0.0053399248459009034
    s: 24.987551495369296
    dkappa: -0.00060473040418170974
    ddkappa: 0
  }
  v: 7.0021603107467856
  a: -0.1980834542965618
  relative_time: 3.5000000000000027
}
trajectory_point {
  path_point {
    x: 587262.68950157682
    y: 4140964.8860655772
    theta: -1.7921011989008111
    kappa: 0.0048680553569204026
    s: 25.686748943508281
    dkappa: -0.00065657009697541271
    ddkappa: 0
  }
  v: 6.9814519427573458
  a: -0.21615217528283245
  relative_time: 3.6000000000000028
}
trajectory_point {
  path_point {
    x: 587262.538064366
    y: 4140964.2056830344
    theta: -1.7888987855564056
    kappa: 0.00437433011659976
    s: 26.383782652795848
    dkappa: -0.00070250685596039684
    ddkappa: 0
  }
  v: 6.9588610905199175
  a: -0.23573315109743903
  relative_time: 3.7000000000000028
}
trajectory_point {
  path_point {
    x: 587262.38909532165
    y: 4140963.527169527
    theta: -1.7859915745008561
    kappa: 0.0038596195469960981
    s: 27.078456932761259
    dkappa: -0.00073825312090768319
    ddkappa: 0
  }
  v: 6.9342401541204124
  a: -0.25675423684124143
  relative_time: 3.8000000000000029
}
trajectory_point {
  path_point {
    x: 587262.24307493528
    y: 4140962.8506442667
    theta: -1.7835246889800278
    kappa: 0.0033834810034648393
    s: 27.770561600978489
    dkappa: -0.00070438510106631187
    ddkappa: 0
  }
  v: 6.9074459750451229
  a: -0.27919888826338618
  relative_time: 3.900000000000003
}
trajectory_point {
  path_point {
    x: 587262.09884041885
    y: 4140962.1765935263
    theta: -1.7813067284381734
    kappa: 0.0029073994872341417
    s: 28.459872245808889
    dkappa: -0.00068846841007446844
    ddkappa: 0
  }
  v: 6.8783371769339325
  a: -0.30304819749783851
  relative_time: 4.0000000000000027
}
trajectory_point {
  path_point {
    x: 587261.95637443475
    y: 4140961.5052635972
    theta: -1.779331261331043
    kappa: 0.0024278098215960251
    s: 29.146152414879456
    dkappa: -0.00069871904270685909
    ddkappa: 0
  }
  v: 6.8468340554113141
  a: -0.32708182512229556
  relative_time: 4.1000000000000023
}
trajectory_point {
  path_point {
    x: 587261.816193442
    y: 4140960.83679108
    theta: -1.7778027611653049
    kappa: 0.0019347819468251495
    s: 29.829165018819054
    dkappa: -0.00071463927148219565
    ddkappa: 0
  }
  v: 6.8130160930694
  a: -0.34934037127701506
  relative_time: 4.200000000000002
}
trajectory_point {
  path_point {
    x: 587261.677350818
    y: 4140960.1716032019
    theta: -1.7765315586533283
    kappa: 0.0014364378352633047
    s: 30.508688767210607
    dkappa: -0.00072966665843765478
    ddkappa: 0
  }
  v: 6.7771002401404115
  a: -0.36903221050564056
  relative_time: 4.3000000000000016
}
trajectory_point {
  path_point {
    x: 587261.53982042964
    y: 4140959.509906549
    theta: -1.7755054491656566
    kappa: 0.00093342508817306747
    s: 31.184526835646157
    dkappa: -0.00074386144424885478
    ddkappa: 0
  }
  v: 6.7393471916668979
  a: -0.386077997851479
  relative_time: 4.4000000000000012
}
trajectory_point {
  path_point {
    x: 587261.40367303486
    y: 4140958.8518611612
    theta: -1.7749210354313585
    kappa: 0.000421110797997564
    s: 31.856508862929271
    dkappa: -0.00075688866937115621
    ddkappa: 0
  }
  v: 6.7000254733362841
  a: -0.40040019803364968
  relative_time: 4.5000000000000009
}
trajectory_point {
  path_point {
    x: 587261.26841616712
    y: 4140958.197715397
    theta: -1.7746144475126249
    kappa: -9.5085236235591922e-05
    s: 32.524491727238804
    dkappa: -0.0007693225338831597
    ddkappa: 0
  }
  v: 6.6594113289360273
  a: -0.41192179992689143
  relative_time: 4.6000000000000005
}
trajectory_point {
  path_point {
    x: 587261.13402449479
    y: 4140957.5475920439
    theta: -1.7745748135684731
    kappa: -0.0006140303562374381
    s: 33.188360318064639
    dkappa: -0.00078127578444938566
    ddkappa: 0
  }
  v: 6.61778875275763
  a: -0.42056467110396861
  relative_time: 4.7
}
trajectory_point {
  path_point {
    x: 587261.00013904378
    y: 4140956.9016535347
    theta: -1.7753489071332327
    kappa: -0.0011404072831400192
    s: 33.848028318803983
    dkappa: -0.00079283255419723394
    ddkappa: 0
  }
  v: 6.5754496615756537
  a: -0.42624839581353469
  relative_time: 4.8
}
trajectory_point {
  path_point {
    x: 587260.86662306637
    y: 4140956.259986599
    theta: -1.7763066630942241
    kappa: -0.0016692792783172257
    s: 34.5034390123392
    dkappa: -0.00080384170022748333
    ddkappa: 0
  }
  v: 6.5326941815305641
  a: -0.42888912795554307
  relative_time: 4.8999999999999995
}
trajectory_point {
  path_point {
    x: 587260.73355116055
    y: 4140955.6226026253
    theta: -1.7774208899948034
    kappa: -0.00219964635272129
    s: 35.154566120905841
    dkappa: -0.000814399120147254
    ddkappa: 0
  }
  v: 6.4898310453901589
  a: -0.42839852359968239
  relative_time: 4.9999999999999991
}
trajectory_point {
  path_point {
    x: 587260.60000112234
    y: 4140954.9896918288
    theta: -1.779014858188106
    kappa: -0.0027366244231905555
    s: 35.801413620976263
    dkappa: -0.000824771336071147
    ddkappa: 0
  }
  v: 6.4471459949098051
  a: -0.42532470199187816
  relative_time: 5.0999999999999988
}
trajectory_point {
  path_point {
    x: 587260.46642199962
    y: 4140954.3611321
    theta: -1.7808398559162963
    kappa: -0.0032750043302030175
    s: 36.44401120182134
    dkappa: -0.00083508796317608228
    ddkappa: 0
  }
  v: 6.404866354949549
  a: -0.42028825831690536
  relative_time: 5.1999999999999984
}
trajectory_point {
  path_point {
    x: 587260.3327337841
    y: 4140953.7368890173
    theta: -1.7829145545501752
    kappa: -0.0038152064518379297
    s: 37.082409169913241
    dkappa: -0.00084535077264080325
    ddkappa: 0
  }
  v: 6.3631869941794479
  a: -0.41331718236964782
  relative_time: 5.299999999999998
}
trajectory_point {
  path_point {
    x: 587260.19771662331
    y: 4140953.1171585713
    theta: -1.7854408063349974
    kappa: -0.0043614622265560621
    s: 37.716677179559291
    dkappa: -0.000855760153013759
    ddkappa: 0
  }
  v: 6.3223000093313457
  a: -0.40443892325493414
  relative_time: 5.3999999999999977
}
trajectory_point {
  path_point {
    x: 587260.06237489439
    y: 4140952.5016372995
    theta: -1.7881667563455981
    kappa: -0.0049087600421386726
    s: 38.346903964294157
    dkappa: -0.00086626852934624447
    ddkappa: 0
  }
  v: 6.2823949552934826
  a: -0.39367686060063739
  relative_time: 5.4999999999999973
}
trajectory_point {
  path_point {
    x: 587259.92598390987
    y: 4140951.8903758265
    theta: -1.7912095950392946
    kappa: -0.005459672762068905
    s: 38.973197097158007
    dkappa: -0.00087699132912114053
    ddkappa: 0
  }
  v: 6.2436590757948833
  a: -0.38105383603078635
  relative_time: 5.599999999999997
}
trajectory_point {
  path_point {
    x: 587259.787878156
    y: 4140951.2834055126
    theta: -1.7946183305222365
    kappa: -0.0060156724375112882
    s: 39.595682769137063
    dkappa: -0.00088810945886115978
    ddkappa: 0
  }
  v: 6.2062775630085314
  a: -0.36658803396730283
  relative_time: 5.6999999999999966
}
trajectory_point {
  path_point {
    x: 587259.64917927794
    y: 4140950.680328134
    theta: -1.7982087999567333
    kappa: -0.0065729266671721853
    s: 40.214505601396439
    dkappa: -0.00089943540315869791
    ddkappa: 0
  }
  v: 6.1704338464367874
  a: -0.35029652004520445
  relative_time: 5.7999999999999963
}
trajectory_point {
  path_point {
    x: 587259.50795938156
    y: 4140950.08142982
    theta: -1.8022167408568188
    kappa: -0.0071372033095212827
    s: 40.82982848367952
    dkappa: -0.00091140457702331107
    ddkappa: 0
  }
  v: 6.1363099769992209
  a: -0.33218979721809538
  relative_time: 5.8999999999999959
}
trajectory_point {
  path_point {
    x: 587259.365194238
    y: 4140949.4863147754
    theta: -1.8064749245234184
    kappa: -0.0077051596042869335
    s: 41.44183245715071
    dkappa: -0.00092379748088575262
    ddkappa: 0
  }
  v: 6.104086919928795
  a: -0.31227907189643517
  relative_time: 5.9999999999999956
}
trajectory_point {
  path_point {
    x: 587259.22109264892
    y: 4140948.8947282946
    theta: -1.8109546585501084
    kappa: -0.0082762364297587383
    s: 42.050716545525148
    dkappa: -0.00093656412331807328
    ddkappa: 0
  }
  v: 6.0739427811315343
  a: -0.29061032317957552
  relative_time: 6.0999999999999952
}
trajectory_point {
  path_point {
    x: 587259.07332197856
    y: 4140948.307042852
    theta: -1.8158763640187265
    kappa: -0.0088569370471813843
    s: 42.656697346253338
    dkappa: -0.00095032004450184161
    ddkappa: 0
  }
  v: 6.0460508595468552
  a: -0.267233712661946
  relative_time: 6.1999999999999948
}
trajectory_point {
  path_point {
    x: 587258.92434508028
    y: 4140947.7224194137
    theta: -1.8209612577401684
    kappa: -0.00944028654634041
    s: 43.260008607431558
    dkappa: -0.0009644664226872605
    ddkappa: 0
  }
  v: 6.0205815840504266
  a: -0.24215647181343231
  relative_time: 6.2999999999999945
}
trajectory_point {
  path_point {
    x: 587258.77193796379
    y: 4140947.141176051
    theta: -1.8264161968596333
    kappa: -0.010032542185405904
    s: 43.8609010906916
    dkappa: -0.0009795369949763726
    ddkappa: 0
  }
  v: 5.9977048640235129
  a: -0.21538175452258576
  relative_time: 6.3999999999999941
}
trajectory_point {
  path_point {
    x: 587258.61657464947
    y: 4140946.5629506735
    theta: -1.8321634556448496
    kappa: -0.010632406595566118
    s: 44.459642529747548
    dkappa: -0.00099541539122973473
    ddkappa: 0
  }
  v: 5.9775902005067172
  a: -0.18691457327467095
  relative_time: 6.4999999999999938
}
trajectory_point {
  path_point {
    x: 587258.459314294
    y: 4140945.9871650985
    theta: -1.8381048663380606
    kappa: -0.011237017130342473
    s: 45.056517598349757
    dkappa: -0.0010118303281464187
    ddkappa: 0
  }
  v: 5.960407042495464
  a: -0.15675095331463579
  relative_time: 6.5999999999999934
}
trajectory_point {
  path_point {
    x: 587258.29650441767
    y: 4140945.414553104
    theta: -1.8445231638736805
    kappa: -0.011856801215652638
    s: 45.65182793069058
    dkappa: -0.0010298293244902646
    ddkappa: 0
  }
  v: 5.9463251057643447
  a: -0.12488953204171775
  relative_time: 6.6999999999999931
}
trajectory_point {
  path_point {
    x: 587258.13177319872
    y: 4140944.8437942024
    theta: -1.8520625051121939
    kappa: -0.012482364290218869
    s: 46.245892156828155
    dkappa: -0.0010490967173131264
    ddkappa: 0
  }
  v: 5.9355147656321474
  a: -0.091318479084124354
  relative_time: 6.7999999999999927
}
trajectory_point {
  path_point {
    x: 587257.96213748539
    y: 4140944.2754147481
    theta: -1.862699519727165
    kappa: -0.013123496399429696
    s: 46.839045998411464
    dkappa: -0.0010716920871337394
    ddkappa: 0
  }
  v: 5.9281474265066292
  a: -0.056029040567413119
  relative_time: 6.8999999999999924
}
trajectory_point {
  path_point {
    x: 587257.78814329545
    y: 4140943.7089841086
    theta: -1.8716320070603694
    kappa: -0.013775805962170255
    s: 47.431610803737122
    dkappa: -0.0010927891181524367
    ddkappa: 0
  }
  v: 5.9234486400882815
  a: -0.037947022848512521
  relative_time: 6.999999999999992
}
decision {
  main_decision {
    cruise {
      change_lane_type: FORWARD
    }
  }
  object_decision {
    decision {
      id: "3_0"
      perception_id: 3
      object_decision {
        follow {
          distance_s: -17.74266520609627
          fence_point {
            x: 587270.72475396551
            y: 4140987.0810606577
            z: 0
          }
          fence_heading: -1.92761309833633
        }
      }
    }
  }
  vehicle_signal {
    turn_signal: TURN_RIGHT
  }
}
routing_header {
  timestamp_sec: 1504919697.607234
  module_name: "routing"
}
right_of_way_status: UNPROTECTED
lane_id {
  id: "140_1_-1"
}
lane_id {
  id: "747_1_-1"
}
lane_id {
  id: "141_1_-2"
}
lane_id {
  id: "906_1_-1"
}
lane_id {
  id: "9_1_-2"
}
engage_advice {
  advice: KEEP_ENGAGED
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."