topo_graph.proto

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syntax = "proto2";
 
package apollo.routing;
 
import "modules/common_msgs/map_msgs/map_geometry.proto";
 
message CurvePoint {
  optional double s = 1;
}
 
message CurveRange {
  optional CurvePoint start = 1;
  optional CurvePoint end = 2;
}
 
message Node {
  optional string lane_id = 1;
  optional double length = 2;
  repeated CurveRange left_out = 3;
  repeated CurveRange right_out = 4;
  optional double cost = 5;
  optional apollo.hdmap.Curve central_curve = 6;
  optional bool is_virtual = 7 [default = true];
  optional string road_id = 8;
}
 
message Edge {
  enum DirectionType {
    FORWARD = 0;
    LEFT = 1;
    RIGHT = 2;
  }
 
  optional string from_lane_id = 1;
  optional string to_lane_id = 2;
  optional double cost = 3;
  optional DirectionType direction_type = 4;
}
 
message Graph {
  optional string hdmap_version = 1;
  optional string hdmap_district = 2;
  repeated Node node = 3;
  repeated Edge edge = 4;
}