From 106168ffe8e968d40e6022cc2acf2960c71d82f2 Mon Sep 17 00:00:00 2001 From: Zhang Liangliang Date: Fri, 15 Dec 2017 15:55:09 -0800 Subject: [PATCH] Planning: fixed a stop position shaking bug by changing reference line length. --- modules/planning/common/planning_gflags.cc | 7 +- modules/planning/common/planning_gflags.h | 1 - .../reference_line/reference_line_provider.cc | 6 +- .../tasks/dp_poly_path/dp_road_graph.cc | 2 +- .../tasks/st_graph/st_boundary_mapper.cc | 1 - .../garage_test/result_follow_0.pb.txt | 1710 ++++++++-------- .../garage_test/result_out_of_map_0.pb.txt | 1705 ++++++++-------- .../garage_test/result_stop_dest_0.pb.txt | 1705 ++++++++-------- .../garage_test/result_stop_obstacle_0.pb.txt | 1700 ++++++++-------- .../result_stop_over_line_0.pb.txt | 432 ++-- .../result_avoid_change_left_0.pb.txt | 976 +++++----- .../result_change_lane_0.pb.txt | 1642 ++++++++-------- .../result_cruise_0.pb.txt | 1352 +++++++------ .../result_follow_01_0.pb.txt | 972 ++++----- .../result_follow_02_0.pb.txt | 1712 ++++++++-------- .../result_follow_03_0.pb.txt | 1705 ++++++++-------- .../result_mission_complete_0.pb.txt | 1700 ++++++++-------- .../sunnyvale_loop_test/result_nudge_0.pb.txt | 976 +++++----- .../result_qp_path_failure_0.pb.txt | 1688 ++++++++-------- .../result_rightturn_01_0.pb.txt | 1700 ++++++++-------- .../result_rightturn_with_red_light_0.pb.txt | 1700 ++++++++-------- .../result_slowdown_01_0.pb.txt | 1708 ++++++++-------- .../sunnyvale_loop_test/result_stop_0.pb.txt | 1731 ++++++++--------- 23 files changed, 13514 insertions(+), 13317 deletions(-) diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc index 453d76014f..10ffcda263 100644 --- a/modules/planning/common/planning_gflags.cc +++ b/modules/planning/common/planning_gflags.cc @@ -41,16 +41,13 @@ DEFINE_double( look_backward_distance, 30, "look backward this distance when creating reference line from routing"); -DEFINE_double(look_forward_short_distance, 60, +DEFINE_double(look_forward_short_distance, 100, "short look forward this distance when creating reference line " "from routing when ADC is slow"); -DEFINE_double(look_forward_mid_distance, 150, - "medium look forward this distance when creating reference line " - "from routing"); DEFINE_double( look_forward_long_distance, 250, "look forward this distance when creating reference line from routing"); -DEFINE_double(look_forward_time_sec, 8, +DEFINE_double(look_forward_time_sec, 8.0, "look forward time times adc speed to calculate this distance " "when creating reference line from routing"); DEFINE_bool(enable_reference_line_stitching, true, diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h index 99f0b25304..f31a380720 100644 --- a/modules/planning/common/planning_gflags.h +++ b/modules/planning/common/planning_gflags.h @@ -29,7 +29,6 @@ DECLARE_uint64(rtk_trajectory_forward); DECLARE_double(rtk_trajectory_resolution); DECLARE_double(look_backward_distance); DECLARE_double(look_forward_short_distance); -DECLARE_double(look_forward_mid_distance); DECLARE_double(look_forward_long_distance); DECLARE_double(look_forward_time_sec); DECLARE_bool(enable_reference_line_stitching); diff --git a/modules/planning/reference_line/reference_line_provider.cc b/modules/planning/reference_line/reference_line_provider.cc index f038e439f7..7cbed3504b 100644 --- a/modules/planning/reference_line/reference_line_provider.cc +++ b/modules/planning/reference_line/reference_line_provider.cc @@ -313,12 +313,8 @@ bool ReferenceLineProvider::CreateRouteSegments( double ReferenceLineProvider::LookForwardDistance(const VehicleState &state) { auto forward_distance = state.linear_velocity() * FLAGS_look_forward_time_sec; - if (forward_distance > FLAGS_look_forward_mid_distance) { - return FLAGS_look_forward_long_distance; - } - if (forward_distance > FLAGS_look_forward_short_distance) { - return FLAGS_look_forward_mid_distance; + return FLAGS_look_forward_long_distance; } return FLAGS_look_forward_short_distance; diff --git a/modules/planning/tasks/dp_poly_path/dp_road_graph.cc b/modules/planning/tasks/dp_poly_path/dp_road_graph.cc index 174b7d51c0..dba4b3cb23 100644 --- a/modules/planning/tasks/dp_poly_path/dp_road_graph.cc +++ b/modules/planning/tasks/dp_poly_path/dp_road_graph.cc @@ -216,7 +216,7 @@ bool DPRoadGraph::SamplePathWaypoints( constexpr double kSamplePointLookForwardTime = 4.0; CHECK_NOTNULL(points); - const double kMinSampleDistance = 60.0; + const double kMinSampleDistance = 100.0; const double total_length = std::fmin(init_sl_point_.s() + std::fmax(speed_data_.speed_vector().back().s() + 20.0, diff --git a/modules/planning/tasks/st_graph/st_boundary_mapper.cc b/modules/planning/tasks/st_graph/st_boundary_mapper.cc index 2d3f09a456..6300dd551c 100644 --- a/modules/planning/tasks/st_graph/st_boundary_mapper.cc +++ b/modules/planning/tasks/st_graph/st_boundary_mapper.cc @@ -156,7 +156,6 @@ Status StBoundaryMapper::GetGraphBoundary(PathDecision* path_decision) const { bool StBoundaryMapper::MapStopDecision(PathObstacle* stop_obstacle) const { const auto& stop_decision = stop_obstacle->LongitudinalDecision(); DCHECK(stop_decision.has_stop()) << "Must have stop decision"; - if (stop_obstacle->perception_sl_boundary().start_s() > path_data_.frenet_frame_path().points().back().s()) { return true; diff --git a/modules/planning/testdata/garage_test/result_follow_0.pb.txt b/modules/planning/testdata/garage_test/result_follow_0.pb.txt index 64d0c3e846..2cedb371da 100644 --- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt @@ -1,1703 +1,1702 @@ header { module_name: "planning" } -total_path_length: 37.11403202736242 +total_path_length: 37.421994584822023 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE 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586367.36158961884 + y: 4140784.2294039493 } - stop_heading: 1.3024864797113129 + stop_heading: 1.2879351134975765 } } } diff --git a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt index e184b548fe..dfca4f33b1 100644 --- a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt @@ -1,1703 +1,1702 @@ header { module_name: "planning" } -total_path_length: 19.415295074067323 +total_path_length: 19.405378076374259 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 586361.37569836807 - y: 4140761.7225913745 - z: 0 + x: 586361.37570319942 + y: 4140761.7226089868 theta: 1.2866508336700004 - kappa: 0.0057515850184131946 - s: 0 + kappa: 0.0057515850184131981 + s: 1.2165290476373603e-15 dkappa: 0 ddkappa: 0 } - v: 4.4250001907348633 - a: -0.15378110921881977 + v: 4.4250001907348553 + 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path_point { - x: 586366.36618789483 - y: 4140780.48466893 - theta: 1.3038093996248337 - kappa: -0.0006965655433997782 - s: 19.415153864379331 + x: 586365.9935276527 + y: 4140780.5647131219 + theta: 1.2928805144811204 + kappa: -0.0028476270439805806 + s: 19.405213907167791 dkappa: 0 ddkappa: 0 } v: 0 - a: -0.0342536907707165 + a: -0.030988708990009571 relative_time: 7.7999999999999892 } trajectory_point { path_point { - x: 586366.3660872234 - y: 4140780.4843006125 - theta: 1.30380984087539 - kappa: -0.00069689425398066494 - s: 19.414772036156631 + x: 586365.99342122884 + y: 4140780.5643392885 + theta: 1.2928823620080119 + kappa: -0.0028490299366044718 + s: 19.404825220522593 dkappa: 0 ddkappa: 0 } - v: 2.090497190241967e-15 - a: 0.0895774576284666 + v: 2.7210302621343408e-15 + a: 0.093242737080937083 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 586366.36622512573 - y: 4140780.484805143 - theta: 1.3038092364392708 - kappa: -0.00069644397795278607 - s: 19.415295074067323 + x: 586365.99357260275 + y: 4140780.5648710178 + theta: 1.2928797341429588 + kappa: -0.0028470345055652056 + s: 19.405378076374259 dkappa: 0 ddkappa: 0 } - v: 0.014154263019576851 - a: 0.22431847455697454 + v: 0.014649872483873864 + a: 0.22841233442128797 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1705,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 586367.39826796215 - y: 4140784.2457737485 + x: 586367.36158961884 + y: 4140784.2294039493 } - stop_heading: 1.3024864797113129 + stop_heading: 1.2879351134975765 change_lane_type: FORWARD } } @@ -1722,10 +1721,10 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 586367.39826796215 - y: 4140784.2457737485 + x: 586367.36158961884 + y: 4140784.2294039493 } - stop_heading: 1.3024864797113129 + stop_heading: 1.2879351134975765 } } } diff --git a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt 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ddkappa: 0 } - v: 0.0057811094094951778 - a: -0.013272308960126256 + v: 0.0058391524136648405 + a: -0.01340097427533707 relative_time: 7.7999999999999892 } trajectory_point { path_point { - x: 586345.20872309606 - y: 4140702.1949805031 - theta: 1.2763315343668697 - kappa: -0.014438783324005909 - s: 12.302732574807221 + x: 586345.03079435369 + y: 4140702.2466532523 + theta: 1.2899736372182919 + kappa: -0.018452914283732812 + s: 12.324226149152029 dkappa: 0 ddkappa: 0 } - v: 0.0037289062435416367 - a: -0.028333497331437054 + v: 0.0037666374937274172 + a: -0.028617300110756229 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 586345.20878262864 - y: 4140702.195173379 - theta: 1.2763288341590067 - kappa: -0.0144376267431661 - s: 12.302934429640498 + x: 586345.03085184062 + y: 4140702.2468488836 + theta: 1.289969939539406 + kappa: -0.018451851308775732 + s: 12.324430051860372 dkappa: 0 ddkappa: 0 } - v: 3.7747582837121216e-15 - a: -0.046826983998974211 + v: 3.996802888636364e-15 + a: -0.047304397691583483 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1706,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 1_0" stop_point { - x: 586346.06273259385 - y: 4140706.0144059975 + x: 586346.12364781287 + y: 4140705.9921340537 } - stop_heading: 1.2653744144690855 + stop_heading: 1.2638695222186633 change_lane_type: FORWARD } } @@ -1722,10 +1722,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 586346.06273259385 - y: 4140706.0144059975 + x: 586346.12364781287 + y: 4140705.9921340537 } - stop_heading: 1.2653744144690855 + stop_heading: 1.2638695222186633 } } } diff --git a/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt index e4f68e0ee6..af1ef6fee9 100644 --- a/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt @@ -7,11 +7,11 @@ is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -22,11 +22,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -37,11 +37,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -52,11 +52,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -67,11 +67,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -82,11 +82,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -97,11 +97,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -112,11 +112,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -127,11 +127,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -142,11 +142,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -157,11 +157,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -172,11 +172,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -187,11 +187,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -202,11 +202,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -217,11 +217,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -232,11 +232,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -247,11 +247,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -262,11 +262,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -277,11 +277,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -292,11 +292,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -307,11 +307,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -322,11 +322,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -337,11 +337,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -352,11 +352,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -367,11 +367,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -382,11 +382,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -397,11 +397,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -412,11 +412,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -427,11 +427,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -442,11 +442,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -457,11 +457,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -472,11 +472,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -487,11 +487,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -502,11 +502,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -517,11 +517,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -532,11 +532,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -547,11 +547,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -562,11 +562,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -577,11 +577,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -592,11 +592,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -607,11 +607,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -622,11 +622,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -637,11 +637,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -652,11 +652,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -667,11 +667,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -682,11 +682,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -697,11 +697,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -712,11 +712,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -727,11 +727,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -742,11 +742,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -757,11 +757,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -772,11 +772,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -787,11 +787,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -802,11 +802,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -817,11 +817,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -832,11 +832,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -847,11 +847,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -862,11 +862,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -877,11 +877,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -892,11 +892,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -907,11 +907,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -922,11 +922,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -937,11 +937,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -952,11 +952,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -967,11 +967,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -982,11 +982,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -997,11 +997,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -1012,11 +1012,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -1027,11 +1027,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -1042,11 +1042,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059299942 - y: 4140735.5242086486 + x: 586354.03059500444 + y: 4140735.5242160754 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699814e-05 + kappa: 3.7846794424699882e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -1061,10 +1061,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 2352_0" stop_point { - x: 586354.95396822377 - y: 4140738.1316414182 + x: 586354.79522783868 + y: 4140738.1639204472 } - stop_heading: 1.312165422838935 + stop_heading: 1.3216449705945246 change_lane_type: FORWARD } } @@ -1077,10 +1077,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 586354.95396822377 - y: 4140738.1316414182 + x: 586354.79522783868 + y: 4140738.1639204472 } - stop_heading: 1.312165422838935 + stop_heading: 1.3216449705945246 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt index 4e97b8eae0..4535c820f3 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt @@ -1,17 +1,17 @@ header { module_name: "planning" } -total_path_length: 98.521552668640552 -total_path_time: 7.9999999999999885 +total_path_length: 97.27156328635408 +total_path_time: 7.8999999999999888 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587569.0072685302 - y: 4141500.3527469286 + x: 587569.00741091685 + y: 4141500.3527112789 z: 0 theta: 2.8987073227943752 - kappa: -2.7705311457342016e-21 + kappa: 7.740861379805921e-23 s: 0 dkappa: 0 ddkappa: 0 @@ -22,10 +22,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.7887596665 - y: 4141500.4067968475 - theta: 2.8988409237695545 - kappa: 0.0001252904249314598 + x: 587568.78890275827 + y: 4141500.4067640477 + theta: 2.898837412645507 + kappa: 0.0001247071077815293 s: 0.22509446286299248 dkappa: 0 ddkappa: 0 @@ -36,10 +36,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.57006501756 - y: 4141500.4608927211 - theta: 2.8989746383541859 - kappa: 0.00025068737691360697 + x: 587568.570208815 + y: 4141500.4608627749 + theta: 2.8989676131195314 + kappa: 0.00024952024665361472 s: 0.45038031025730868 dkappa: 0 ddkappa: 0 @@ -50,10 +50,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.351181102 - y: 4141500.5150354113 - theta: 2.8991084686722481 - kappa: 0.00037619285225362403 + x: 587568.35132560576 + y: 4141500.5150083215 + theta: 2.8990979262848464 + kappa: 0.00037444140362919109 s: 0.67586112871155346 dkappa: 0 ddkappa: 0 @@ -64,10 +64,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.13210456818 - y: 4141500.5692257481 - theta: 2.8992424167679247 - kappa: 0.00050180877245197127 + x: 587568.13224977907 + y: 4141500.5692015151 + theta: 2.8992283541321546 + kappa: 0.00049947249126275079 s: 0.901540370357957 dkappa: 0 ddkappa: 0 @@ -78,10 +78,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.91283219471 - y: 4141500.6234645266 - theta: 2.8993764846064809 - kappa: 0.00062753698502071966 + x: 587567.91297811316 + y: 4141500.6234431546 + theta: 2.899358898575314 + kappa: 0.00062461534846486538 s: 1.1274213544025757 dkappa: 0 ddkappa: 0 @@ -92,10 +92,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.69336088654 - y: 4141500.6777525134 - theta: 2.89951067407513 - kappa: 0.000753379264301885 + x: 587567.69350751326 + y: 4141500.6777340043 + theta: 2.8994895614521852 + kappa: 0.000749871741316711 s: 1.3535072685954965 dkappa: 0 ddkappa: 0 @@ -106,10 +106,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.47368767567 - y: 4141500.7320904424 - theta: 2.8996449869839105 - kappa: 0.00087933731228576062 + x: 587567.47383501125 + y: 4141500.7320747995 + theta: 2.8996203445254816 + kappa: 0.00087524336388459037 s: 1.5798011707010382 dkappa: 0 ddkappa: 0 @@ -120,10 +120,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.2538097183 - y: 4141500.7864790172 - theta: 2.8997794250665541 - kappa: 0.00100541275942925 + x: 587567.25395776355 + y: 4141500.7864662427 + theta: 2.8997512494836175 + kappa: 0.0010007318390344562 s: 1.8063059899679537 dkappa: 0 ddkappa: 0 @@ -134,10 +134,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.03370682953 - y: 4141500.8408479737 - theta: 2.8999455907330014 - kappa: 0.0011259344191956806 + x: 587567.03385582613 + y: 4141500.8408390554 + theta: 2.8999136367867231 + kappa: 0.0011207894380479389 s: 2.0330245285996345 dkappa: 0 ddkappa: 0 @@ -148,10 +148,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587566.81329359522 - y: 4141500.89486159 - theta: 2.9002933301956046 - kappa: 0.001214004756885378 + x: 587566.81344377378 + y: 4141500.8948574942 + theta: 2.9002583086904328 + kappa: 0.0012087318888762875 s: 2.2599594632243107 dkappa: 0 ddkappa: 0 @@ -162,10 +162,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587566.59266770468 - y: 4141500.9489273187 - theta: 2.9006414054341039 - kappa: 0.0013021600654932654 + x: 587566.59281906614 + y: 4141500.94892805 + theta: 2.9006033134033617 + kappa: 0.0012967591872366292 s: 2.4871133463652555 dkappa: 0 ddkappa: 0 @@ -176,10 +176,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587566.37182679772 - y: 4141501.0030457387 - theta: 2.9009898200882267 - kappa: 0.0013904012880257715 + x: 587566.37197934336 + y: 4141501.0030513024 + theta: 2.9009486545345879 + kappa: 0.0013848722747660538 s: 2.7144886079109858 dkappa: 0 ddkappa: 0 @@ -190,10 +190,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587566.15076863184 - y: 4141501.0572173987 - theta: 2.9013385776115523 - kappa: 0.001478729320467023 + x: 587566.15092236281 + y: 4141501.0572277987 + theta: 2.9012943355086889 + kappa: 0.00147307204614763 s: 2.9420875565854669 dkappa: 0 ddkappa: 0 @@ -204,10 +204,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.92949108128 - y: 4141501.1114428211 - theta: 2.9016876812737515 - kappa: 0.0015671450123494102 + x: 587565.92964599875 + y: 4141501.1114580627 + theta: 2.9016403595679674 + kappa: 0.0015613593496801434 s: 3.1699123814183143 dkappa: 0 ddkappa: 0 @@ -218,10 +218,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.70799213438 - y: 4141501.1657224968 - theta: 2.9020371341628319 - kappa: 0.001655649167324151 + x: 587565.70814823965 + y: 4141501.1657425854 + theta: 2.9019867297746731 + kappa: 0.0016497349878478302 s: 3.3979651532149933 dkappa: 0 ddkappa: 0 @@ -232,10 +232,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.48626989347 - y: 4141501.2200568933 - theta: 2.9023869391873816 - kappa: 0.0017442425437318592 + x: 587565.48642718757 + y: 4141501.2200818332 + theta: 2.902333449013228 + kappa: 0.0017381997178901182 s: 3.626247826027027 dkappa: 0 ddkappa: 0 @@ -246,10 +246,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.26432257262 - y: 4141501.2744464469 - theta: 2.9027370990788142 - kappa: 0.0018329258551731064 + x: 587565.26448105671 + y: 4141501.2744762427 + theta: 2.9026805199924515 + kappa: 0.0018267542523713609 s: 3.854762238622194 dkappa: 0 ddkappa: 0 @@ -260,10 +260,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.04207389755 - y: 4141501.3285846803 - theta: 2.9031391156095503 - kappa: 0.0019089430409318917 + x: 587565.0422341231 + y: 4141501.328621638 + theta: 2.9030808552925365 + kappa: 0.0019028325088107389 s: 4.0835101159547333 dkappa: 0 ddkappa: 0 @@ -274,10 +274,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587564.81946996239 - y: 4141501.3822566625 - theta: 2.90362912464931 - kappa: 0.0019633444234051687 + x: 587564.81963205617 + y: 4141501.3823013669 + theta: 2.9035721596129007 + kappa: 0.0019574805827423441 s: 4.3124930706355471 dkappa: 0 ddkappa: 0 @@ -288,10 +288,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587564.596636039 - y: 4141501.4359840965 - theta: 2.9041196406593088 - kappa: 0.0020178020119369392 + x: 587564.59680000274 + y: 4141501.436036557 + theta: 2.904063972248061 + kappa: 0.0020121851176074833 s: 4.5417126044024005 dkappa: 0 ddkappa: 0 @@ -302,10 +302,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587564.3735707734 - y: 4141501.4897673093 - theta: 2.9046106663848441 - kappa: 0.0020723161373157549 + x: 587564.37373660924 + y: 4141501.4898275342 + theta: 2.9045562959493303 + kappa: 0.0020669464456947186 s: 4.7711701095901278 dkappa: 0 ddkappa: 0 @@ -316,10 +316,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587564.15027291724 - y: 4141501.5436066021 - theta: 2.9051022043387822 - kappa: 0.0021268871046876913 + x: 587564.150440627 + y: 4141501.5436745984 + theta: 2.9050491332349693 + kappa: 0.0021217648735338585 s: 5.0008668706008326 dkappa: 0 ddkappa: 0 @@ -330,10 +330,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587563.9267413253 - y: 4141501.5975022512 - theta: 2.9055942568046897 - kappa: 0.0021815151939056374 + x: 587563.9269109111 + y: 4141501.5975780273 + theta: 2.9055424863933226 + kappa: 0.0021766406822468286 s: 5.2308040653740919 dkappa: 0 ddkappa: 0 @@ -344,10 +344,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587563.70297495462 - y: 4141501.6514545074 - theta: 2.9060868258399606 - kappa: 0.0022362006598785839 + x: 587563.70314641832 + y: 4141501.6515380712 + theta: 2.9060363574859602 + kappa: 0.0022315741278985425 s: 5.4609827668571542 dkappa: 0 ddkappa: 0 @@ -358,10 +358,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587563.47897286259 - y: 4141501.705463598 - theta: 2.9065799132789509 - kappa: 0.0022909437329209107 + x: 587563.4791462064 + y: 4141501.7055549589 + theta: 2.9065307483508138 + kappa: 0.0022865654418477762 s: 5.6914039444751507 dkappa: 0 ddkappa: 0 @@ -372,10 +372,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587563.25473420625 - y: 4141501.759529727 - theta: 2.9070735207361125 - kappa: 0.0023457446191016743 + x: 587563.25490943191 + y: 4141501.7596288924 + theta: 2.9070256606053224 + kappa: 0.0023416148310980395 s: 5.9220684656012885 dkappa: 0 ddkappa: 0 @@ -386,10 +386,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587563.03009001969 - y: 4141501.8129481426 - theta: 2.9076220426184847 - kappa: 0.0023800996752903919 + x: 587563.03026835853 + y: 4141501.813060387 + theta: 2.9075734889111766 + kappa: 0.0023765912245953778 s: 6.15297709702706 dkappa: 0 ddkappa: 0 @@ -400,10 +400,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587562.80512485281 - y: 4141501.86607603 - theta: 2.908197933691905 - kappa: 0.0024043936902135065 + x: 587562.8053052976 + y: 4141501.8661971912 + theta: 2.9081482077931895 + kappa: 0.0024014959301300724 s: 6.38413050643244 dkappa: 0 ddkappa: 0 @@ -414,10 +414,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587562.57992090634 - y: 4141501.9192603072 - theta: 2.9087744370367545 - kappa: 0.0024287134909921383 + x: 587562.58010345919 + y: 4141501.9193903948 + theta: 2.9087235376981759 + kappa: 0.0024264270697120275 s: 6.6155292638560912 dkappa: 0 ddkappa: 0 @@ -428,10 +428,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587562.35447771871 - y: 4141501.9725010837 - theta: 2.9093515534530394 - kappa: 0.00245305912742934 + x: 587562.35466238216 + y: 4141501.9726401074 + theta: 2.9092994794260636 + kappa: 0.0024513846943962194 s: 6.8471738431655691 dkappa: 0 ddkappa: 0 @@ -442,10 +442,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587562.12879492121 - y: 4141502.025798447 - theta: 2.9099292835023873 - kappa: 0.0024774306393751848 + x: 587562.12898169737 + y: 4141502.025946416 + theta: 2.9098760335388985 + kappa: 0.0024763688450344518 s: 7.0790646235275192 dkappa: 0 ddkappa: 0 @@ -456,10 +456,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587561.9028722354 - y: 4141502.0791524621 - theta: 2.9105076275117012 - kappa: 0.0025018280568812811 + x: 587561.90306112659 + y: 4141502.0793093862 + theta: 2.9104532003644876 + kappa: 0.0025013795524337556 s: 7.3112018908778822 dkappa: 0 ddkappa: 0 @@ -470,10 +470,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587561.67670947243 - y: 4141502.1325631742 - theta: 2.9110865855768089 - kappa: 0.0025262514003552934 + x: 587561.67690048076 + y: 4141502.1327290623 + theta: 2.9110309800000449 + kappa: 0.0025264168375147928 s: 7.5435858393920965 dkappa: 0 ddkappa: 0 @@ -484,10 +484,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587561.450306531 - y: 4141502.1860306067 - theta: 2.9116661575661209 - kappa: 0.0025507006807154566 + x: 587561.45049965894 + y: 4141502.1862054691 + theta: 2.9116093723158394 + kappa: 0.0025514807114702543 s: 7.7762165729553017 dkappa: 0 ddkappa: 0 @@ -498,10 +498,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587561.2236506365 - y: 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- x: 587496.02944480663 - y: 4141516.6037767106 - theta: 2.945148123208106 - kappa: 0.00073618445036192112 + x: 587496.01182191866 + y: 4141516.5260194037 + theta: 2.9425781144630996 + kappa: 0.00023910057260621286 s: 74.772297131834534 dkappa: 0 ddkappa: 0 @@ -1436,10 +1436,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587494.803347289 - y: 4141516.8470203117 - theta: 2.9462707859244803 - kappa: 0.000908900118309591 + x: 587494.786423259 + y: 4141516.7727595447 + theta: 2.942969584982273 + kappa: 0.00037685640420888789 s: 76.022290160803436 dkappa: 0 ddkappa: 0 @@ -1450,10 +1450,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587493.57683886262 - y: 4141517.0881615975 - theta: 2.9474217584482352 - kappa: 0.0011730399945183063 + x: 587493.56084737589 + y: 4141517.0185971977 + theta: 2.9437049229999896 + kappa: 0.00060548098159373006 s: 77.272279149842177 dkappa: 0 ddkappa: 0 @@ -1464,10 +1464,10 @@ trajectory_point { } trajectory_point { path_point { - 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x: 587473.8809050261 - y: 4141520.5489654914 - theta: 2.9902033237395536 - kappa: 0.0024419641684666621 + x: 587473.90558166057 + y: 4141520.7089126995 + theta: 2.9690674197878537 + kappa: 0.0013273607596579677 s: 97.27156328635408 dkappa: 0 ddkappa: 0 @@ -1686,20 +1686,6 @@ trajectory_point { a: 0.0017999851417420632 relative_time: 7.8999999999999888 } -trajectory_point { - path_point { - x: 587472.64498462458 - y: 4141520.7359612705 - theta: 2.9933357526352711 - kappa: 0.0024643962950086397 - s: 98.521552668640552 - dkappa: 0 - ddkappa: 0 - } - v: 12.500000000000002 - a: 0.0022923283125064007 - relative_time: 7.9999999999999885 -} decision { main_decision { cruise { diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt index 519e9bd792..e2272742ca 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt +++ 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35593f4eb2..6d97d709fa 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt @@ -1,283 +1,283 @@ header { module_name: "planning" } -total_path_length: 56.661429125635891 -total_path_time: 6.3999999999999941 +total_path_length: 75.629111405898826 +total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587503.35566780088 - y: 4140719.1573583428 + x: 587503.35549124982 + y: 4140719.1575318547 z: 0 theta: 2.35595493774 - kappa: 6.3049084706610157e-18 + kappa: 1.0266888450599416e-18 s: 0 dkappa: 0 ddkappa: 0 } v: 5.4222221374511719 - a: 1.1477460050966795 + a: 1.1477460050966783 relative_time: 0 } trajectory_point { path_point { - x: 587503.279066275 - y: 4140719.2344445484 - theta: 2.3556141207300554 - kappa: -0.00039862066132779052 - s: 0.10867417714522677 + x: 587503.27917622891 + y: 4140719.234901709 + theta: 2.3555922224363437 + 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relative_time: 6.3999999999999941 } +trajectory_point { + path_point { + x: 587467.747382759 + y: 4140764.6298237937 + theta: 2.2288956603169949 + kappa: 0.00017054458288384949 + s: 57.796830608893792 + dkappa: 0 + ddkappa: 0 + } + v: 11.382334143268608 + a: 0.57070274585965874 + relative_time: 6.4999999999999938 +} +trajectory_point { + path_point { + x: 587467.04934885621 + y: 4140765.53253135 + theta: 2.2290830259535572 + kappa: 0.0001404058653510596 + s: 58.937940709261632 + dkappa: 0 + ddkappa: 0 + } + v: 11.440107561306773 + a: 0.58508483740861517 + relative_time: 6.5999999999999934 +} +trajectory_point { + path_point { + x: 587466.34758554422 + y: 4140766.4397531124 + theta: 2.2292316591046561 + kappa: 0.00011150724670512718 + s: 60.084903260577256 + dkappa: 0 + ddkappa: 0 + } + v: 11.49941521369778 + a: 0.60139001738101938 + relative_time: 6.6999999999999931 +} +trajectory_point { + path_point { + x: 587465.64205547411 + y: 4140767.3516663453 + theta: 2.2293581677742296 + 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-7.77492861875947e-05 + s: 69.494969798913175 + dkappa: 0 + ddkappa: 0 + } + v: 12.052604613860877 + a: 0.80292345485481054 + relative_time: 7.49999999999999 +} +trajectory_point { + path_point { + x: 587459.84817762813 + y: 4140774.8379260362 + theta: 2.2292504107640414 + kappa: -9.584189804504598e-05 + s: 70.704301199756372 + dkappa: 0 + ddkappa: 0 + } + v: 12.134595245048969 + a: 0.83723423605715741 + relative_time: 7.59999999999999 +} +trajectory_point { + path_point { + x: 587459.10316627764 + y: 4140775.8011314655 + theta: 2.2291234406381291 + kappa: -0.00011246051098932926 + s: 71.922006674757057 + dkappa: 0 + ddkappa: 0 + } + v: 12.220120732948786 + a: 0.87362317355382135 + relative_time: 7.6999999999999895 +} +trajectory_point { + path_point { + x: 587458.35288429214 + y: 4140776.771306952 + theta: 2.2289833214466546 + kappa: -0.00012839492562724495 + s: 73.1484501262125 + dkappa: 0 + ddkappa: 0 + } + v: 12.309389668529114 + a: 0.9121057741318892 + relative_time: 7.7999999999999892 +} +trajectory_point { + path_point { + x: 587457.5972485973 + y: 4140777.7488746969 + theta: 2.2288144359142397 + kappa: -0.00014250524534067756 + s: 74.384016393050828 + dkappa: 0 + ddkappa: 0 + } + v: 12.402612193437447 + a: 0.95269754457844769 + relative_time: 7.8999999999999888 +} +trajectory_point { + path_point { + x: 587456.835923811 + y: 4140778.7340884437 + theta: 2.22863199851696 + kappa: -0.0001557352439086294 + s: 75.629111405898826 + dkappa: 0 + ddkappa: 0 + } + v: 12.499999999999989 + a: 0.9954139916805842 + relative_time: 7.9999999999999885 +} decision { main_decision { cruise { diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt index 45df082a47..562f0e5f7b 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt @@ -7,11 +7,11 @@ is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587270.74273919233 - y: 4140989.9890120924 + x: 587270.742733746 + y: 4140989.9889958 z: 0 theta: -1.9217279571391881 - kappa: -0.0717295978437918 + kappa: -0.071729597843791792 s: 0 dkappa: 0 ddkappa: 0 @@ -22,10 +22,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587270.68636418018 - y: 4140989.8587461491 - theta: -1.9288301618155208 - kappa: -0.068835191023477613 + x: 587270.68632677512 + y: 4140989.8587436923 + theta: -1.9288723015517812 + kappa: -0.068832461749091578 s: 0.14194138906130177 dkappa: 0 ddkappa: 0 @@ -36,10 +36,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587270.63003623986 - y: 4140989.728588976 - theta: -1.93593078865198 - kappa: -0.065943200974112354 + x: 587270.6299669029 + y: 4140989.7286003423 + theta: -1.9360151102757193 + kappa: -0.065937744704229015 s: 0.28376425994363613 dkappa: 0 ddkappa: 0 @@ -50,10 +50,10 @@ trajectory_point { } trajectory_point { path_point { - 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587270.40521006845 - y: 4140989.2090823338 - theta: -1.9643012115617717 - kappa: -0.05440017192121463 + x: 587270.40501327883 + y: 4140989.2091488773 + theta: -1.9645544128621 + kappa: -0.054383831178108646 s: 0.849833122912045 dkappa: 0 ddkappa: 0 @@ -106,10 +106,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587270.34912846191 - y: 4140989.079494365 - theta: -1.9713817587351796 - kappa: -0.05152082913596602 + x: 587270.34889987984 + y: 4140989.0795746706 + theta: -1.9716771508963591 + kappa: -0.0515017733230719 s: 0.991035773366504 dkappa: 0 ddkappa: 0 @@ -120,10 +120,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587270.29309817508 - y: 4140988.95002498 - theta: -1.9784558859219734 - kappa: -0.04864412121553964 + x: 587270.29283782979 + y: 4140988.9501190367 + theta: -1.978793430668971 + kappa: -0.048622352817397241 s: 1.1321092103426664 dkappa: 0 ddkappa: 0 @@ -134,10 +134,10 @@ trajectory_point { } trajectory_point { path_point { - x: 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-0.0086194005044321828 + x: 587258.63267394318 + y: 4140946.5179108349 + theta: -1.8082112005570563 + kappa: -0.0072834804799670593 s: 45.334505502443207 dkappa: 0 ddkappa: 0 @@ -1646,10 +1646,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587258.514748672 - y: 4140946.0481291683 - theta: -1.8293624135695536 - kappa: -0.0090530318204716451 + x: 587258.51765179285 + y: 4140946.0468321526 + theta: -1.8116346462273905 + kappa: -0.00794349617608087 s: 45.819423247675267 dkappa: 0 ddkappa: 0 @@ -1660,10 +1660,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587258.393716524 - y: 4140945.5881974516 - theta: -1.8334894047879342 - kappa: -0.0094783220328899763 + x: 587258.40484214807 + y: 4140945.5848148922 + theta: -1.8149921991926403 + kappa: -0.00859081615786496 s: 46.295013370544517 dkappa: 0 ddkappa: 0 @@ -1674,10 +1674,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587258.27159548632 - y: 4140945.1392118642 - theta: -1.8378740516600465 - kappa: -0.0098797286702757732 + x: 587258.29099426279 + y: 4140945.1336573577 + theta: -1.8188018444405594 + kappa: -0.0092787027591523744 s: 46.760332124671947 dkappa: 0 ddkappa: 0 @@ -1688,10 +1688,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587258.14754702745 - y: 4140944.7024486694 - theta: -1.842610630185012 - kappa: -0.010252000005768513 + x: 587258.17539982952 + y: 4140944.6945810141 + theta: -1.8231998576565642 + kappa: -0.010020661360048118 s: 47.214369687536426 dkappa: 0 ddkappa: 0 @@ -1714,11 +1714,11 @@ decision { follow { distance_s: -14.199999809265137 fence_point { - x: 587269.62803773 - y: 4140986.4092999264 + x: 587269.63065833948 + y: 4140986.4091708767 z: 0 } - fence_heading: -1.9047616292861143 + fence_heading: -1.9052837274517131 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt index 7f8c111937..9fb5f2ca70 100644 --- 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-1.8038302763076808 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1706,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 2339_0" stop_point { - x: 587701.30987148627 - y: 4141379.3230939894 + x: 587701.39225723292 + y: 4141379.3035111981 } - stop_heading: -1.8063333745521157 + stop_heading: -1.8021510166946466 change_lane_type: FORWARD } } @@ -1718,14 +1718,14 @@ decision { id: "2271_0" perception_id: 2271 object_decision { - yield { - distance_s: -10 + follow { + distance_s: -12.122221946716309 fence_point { - x: 587703.52310715546 - y: 4141388.2985465694 + x: 587704.07313510368 + y: 4141390.4149589874 z: 0 } - fence_heading: -1.819237293028156 + fence_heading: -1.8157384524955866 } } } @@ -1737,10 +1737,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 587701.30987148627 - y: 4141379.3230939894 + x: 587701.39225723292 + y: 4141379.3035111981 } - stop_heading: -1.8063333745521157 + stop_heading: -1.8021510166946466 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt index b8098dd194..35a1232caa 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt @@ -1,1703 +1,1702 @@ header { module_name: "planning" } -total_path_length: 16.13444775352513 +total_path_length: 16.222394716530406 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587260.60288169631 - y: 4140955.2434598561 - z: 0 + x: 587260.60288659018 + y: 4140955.2434809315 theta: -1.827644940261357 - kappa: 0.0012502171579704892 - s: 0 + kappa: 0.0012502171579704894 + s: 3.4694469519536142e-18 dkappa: 0 ddkappa: 0 } v: 4.5999999046325684 - a: -1.3263365926379149 + a: -1.3228767898402884 relative_time: 0 } trajectory_point { path_point { - x: 587260.57979116833 - y: 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a/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt index 6ed11b6966..e1b7ee3a90 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt @@ -1,1703 +1,1703 @@ header { module_name: "planning" } -total_path_length: 5.4764734519988192 +total_path_length: 5.472896030265396 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587610.56668796146 - y: 4140980.4473183318 + x: 587610.5666897333 + y: 4140980.4473251454 z: 0 theta: 1.3203319788735257 - kappa: -2.5814985031762074e-20 + kappa: -9.26811057022626e-21 s: 0 dkappa: 0 ddkappa: 0 } v: 0 - a: 0.4246777265292459 + a: 0.42450884480790724 relative_time: 0 } trajectory_point { path_point { - x: 587610.56670917931 - y: 4140980.4474011082 - theta: 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+ a: -0.25152038961153433 relative_time: 7.3999999999999906 } trajectory_point { path_point { - x: 587611.93690046831 - y: 4140985.7438845439 - theta: 1.3139460232711471 - kappa: -0.0013917516341423321 - s: 5.4709435722510618 + x: 587611.94267554628 + y: 4140985.738690489 + theta: 1.3109108918901815 + kappa: -0.0021120285986299314 + s: 5.4673724150311633 dkappa: 0 ddkappa: 0 } - v: 0.044546881537843482 - a: -0.21294020485378151 + v: 0.044496767826601856 + a: -0.21270470043859385 relative_time: 7.49999999999999 } trajectory_point { path_point { - x: 587611.93777731725 - y: 4140985.7472322751 - theta: 1.3139408724623443 - kappa: -0.0013913593962878717 - s: 5.4744042322294479 + x: 587611.94356045779 + y: 4140985.7420320562 + theta: 1.310903187128829 + kappa: -0.002111561885240493 + s: 5.4708291676217389 dkappa: 0 ddkappa: 0 } - v: 0.025393205390630186 - a: -0.16932377172044982 + v: 0.02536440793736619 + a: -0.16913407703641356 relative_time: 7.59999999999999 } trajectory_point { path_point { - x: 587611.93822618574 - y: 4140985.7489460153 - theta: 1.3139382357068672 - kappa: -0.0013911586054302892 - s: 5.4761757820096619 + x: 587611.94401344971 + y: 4140985.7437426257 + theta: 1.3108992430126678 + kappa: -0.0021113229716959656 + s: 5.472598701199856 dkappa: 0 ddkappa: 0 } - v: 0.010847227955105683 - a: -0.120754315746549 + v: 0.010834822735560983 + a: -0.12061734414697825 relative_time: 7.6999999999999895 } trajectory_point { path_point { - x: 587611.93837017787 - y: 4140985.7494957643 - theta: 1.3139373898646665 - kappa: -0.0013910941939280562 - s: 5.4767440757258115 + x: 587611.94415876316 + y: 4140985.7442913521 + theta: 1.3108979777962997 + kappa: -0.0021112463316284779 + s: 5.473166342407124 dkappa: 0 ddkappa: 0 } - v: 0.0014138259773649117 - a: -0.067040347691311522 + v: 0.0014121819328128649 + a: -0.06696332651227227 relative_time: 7.7999999999999892 } trajectory_point { path_point { - x: 587611.9383454324 - y: 4140985.7494012886 - theta: 1.3139375352253542 - kappa: -0.0013911052632507562 - s: 5.4766464126328174 + x: 587611.94413379033 + y: 4140985.744197051 + theta: 1.3108981952293781 + kappa: -0.0021112595025660754 + s: 5.4730687907326061 dkappa: 0 ddkappa: 0 } v: 0 - a: -0.00799037831396961 + a: -0.00798084887428031 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 587611.93830160832 - y: 4140985.7492339713 - theta: 1.3139377926580851 - kappa: -0.0013911248669415 - s: 5.4764734519988192 + x: 587611.94408956449 + y: 4140985.7440300472 + theta: 1.3108985802954516 + kappa: -0.0021112828278174781 + s: 5.472896030265396 dkappa: 0 ddkappa: 0 } - v: 4.5024091466388971e-15 - a: 0.056587081626243908 + v: 4.497164623384774e-15 + a: 0.056521264025012931 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1706,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 587612.99666802655 - y: 4140989.5040397691 + x: 587613.03819175938 + y: 4140989.4894207632 } - stop_heading: 1.3206753310369626 + stop_heading: 1.3185509106160067 change_lane_type: FORWARD } } @@ -1722,10 +1722,10 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 587612.99666802655 - y: 4140989.5040397691 + x: 587613.03819175938 + y: 4140989.4894207632 } - stop_heading: 1.3206753310369626 + stop_heading: 1.3185509106160067 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt index a03da92b9b..53fe61f132 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt @@ -1,17 +1,17 @@ header { module_name: "planning" } -total_path_length: 98.214984822470569 -total_path_time: 7.9999999999999885 +total_path_length: 96.96499455423934 +total_path_time: 7.8999999999999888 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587325.33829655778 - y: 4141206.1754846475 + x: 587325.3383001918 + y: 4141206.1754990211 z: 0 theta: -1.82326794493 - kappa: -0.00037055856324073487 + kappa: -0.000370558563240735 s: 0 dkappa: 0 ddkappa: 0 @@ -22,10 +22,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587325.283174761 - y: 4141205.9621466054 - theta: -1.8233654132287904 - kappa: -0.0003796289123812417 + x: 587325.2831708166 + y: 4141205.9621629366 + theta: -1.823371173564508 + kappa: -0.00038581244680655787 s: 0.22034412371128145 dkappa: 0 ddkappa: 0 @@ -36,10 +36,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587325.22799145489 - y: 4141205.7485705027 - theta: -1.82346299029721 - kappa: -0.00038870938295609635 + x: 587325.2279799236 + y: 4141205.7485887948 + theta: -1.8234745173977305 + kappa: -0.00040108335189808711 s: 0.44093412534275389 dkappa: 0 ddkappa: 0 @@ -50,10 +50,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587325.17274588253 - y: 4141205.5347534115 - theta: -1.8235606774713315 - kappa: -0.00039780009947070405 + x: 587325.172726756 + y: 4141205.5347736669 + theta: -1.8235779778444645 + kappa: -0.00041637148789987069 s: 0.66177302947858563 dkappa: 0 ddkappa: 0 @@ -64,10 +64,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587325.11743731971 - y: 4141205.320692528 - theta: -1.8236584760306731 - kappa: -0.0004069011811686249 + x: 587325.117410589 + y: 4141205.3207147475 + theta: -1.8236815562596087 + kappa: -0.00043167705534745047 s: 0.88286373287802122 dkappa: 0 ddkappa: 0 @@ -78,10 +78,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587325.062065073 - y: 4141205.1063851686 - theta: -1.823756387198832 - kappa: -0.00041601274209065851 + x: 587325.0620307296 + y: 4141205.106409356 + theta: -1.8237852539388342 + kappa: -0.00044700024602672755 s: 1.104209005910727 dkappa: 0 ddkappa: 0 @@ -92,10 +92,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587325.006628481 - y: 4141204.8918287726 - theta: -1.8238544121441198 - kappa: -0.00042513489113393018 + x: 587325.00658651569 + y: 4141204.8918549293 + theta: -1.8238890721192569 + kappa: -0.00046234124307332786 s: 1.3258114939921386 dkappa: 0 ddkappa: 0 @@ -106,10 +106,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587324.95112691238 - y: 4141204.677020899 - theta: -1.8239525519801965 - kappa: -0.00043426773211097564 + x: 587324.95107731665 + y: 4141204.6770490268 + theta: -1.8239930119801107 + kappa: -0.00047770022107196782 s: 1.5476737190188055 dkappa: 0 ddkappa: 0 @@ -120,10 +120,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587324.89555976714 - y: 4141204.4619592228 - theta: -1.8240508077667061 - kappa: -0.00044341136380882633 + x: 587324.89550253167 + y: 4141204.461989325 + theta: -1.8240970746434184 + kappa: -0.00049307734615581958 s: 1.7697980808037386 dkappa: 0 ddkappa: 0 @@ -134,10 +134,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587324.839926475 - y: 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91.965154674786831 dkappa: 0 ddkappa: 0 @@ -1632,10 +1632,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587302.676536913 - y: 4141115.759032642 - theta: -1.8122807127623031 - kappa: -6.3002326968633379e-05 + x: 587302.76527122373 + y: 4141115.7380298143 + theta: -1.8067655081588578 + kappa: 7.3645269717100139e-05 s: 93.2151041297025 dkappa: 0 ddkappa: 0 @@ -1646,10 +1646,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587302.37755563424 - y: 4141114.5453623161 - theta: -1.81235745836736 - kappa: -6.4209244156946852e-05 + x: 587302.47310132766 + y: 4141114.5227017868 + theta: -1.8066741267422477 + kappa: 7.3434040790952635e-05 s: 94.465058317556128 dkappa: 0 ddkappa: 0 @@ -1660,10 +1660,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587302.07847446844 - y: 4141113.3317083456 - theta: -1.8124446935552114 - kappa: -6.5325026856913288e-05 + x: 587302.18104212615 + y: 4141113.3073389083 + theta: -1.8065905093199988 + kappa: 7.3272874465031446e-05 s: 95.7150205182477 dkappa: 0 ddkappa: 0 @@ -1674,10 +1674,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587301.77926848317 - y: 4141112.118072954 - theta: -1.8125338522783532 - kappa: -6.6337523874560091e-05 + x: 587301.88911742752 + y: 4141112.0919315461 + theta: -1.8064978741012825 + kappa: 7.316589491437887e-05 s: 96.96499455423934 dkappa: 0 ddkappa: 0 @@ -1686,20 +1686,6 @@ trajectory_point { a: 0.0016181706853259606 relative_time: 7.8999999999999888 } -trajectory_point { - path_point { - x: 587301.4799943876 - y: 4141110.904437637 - theta: -1.8126212967821511 - kappa: -6.7296980109945569e-05 - s: 98.214984822470569 - dkappa: 0 - ddkappa: 0 - } - v: 12.5 - a: 0.0021182379693230453 - relative_time: 7.9999999999999885 -} decision { main_decision { cruise { diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt index 4e9e13c218..5ffbc271a8 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt @@ -1,14 +1,14 @@ header { module_name: "planning" } -total_path_length: 42.109713911124942 +total_path_length: 42.294144915274117 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 586916.59605575853 - y: 4141003.4876490678 + x: 586916.59601451072 + y: 4141003.4876698344 z: 0 theta: 2.6133262586660049 kappa: -0.0224215037902896 @@ -17,1687 +17,1687 @@ trajectory_point { ddkappa: 0 } v: 4.8822846412658691 - a: -0.45486888708846246 + a: -0.44582038098355159 relative_time: 0 } trajectory_point { path_point { - x: 586916.51345931913 - y: 4141003.5395606025 - theta: 2.6100345274218837 - kappa: -0.023863617203181964 - s: 0.097555006174694189 + x: 586916.5138189611 + y: 4141003.5402172045 + theta: 2.6096935920353492 + kappa: 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3.6859404417424246e-14 + a: -0.45434384914541626 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1706,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 867_0" stop_point { - x: 587252.90441135294 - y: 4140931.871199857 + x: 587252.96006937139 + y: 4140931.8157388396 } - stop_heading: -2.1428256466201185 + stop_heading: -2.1376960449350042 change_lane_type: FORWARD } } @@ -1722,10 +1722,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 587252.90441135294 - y: 4140931.871199857 + x: 587252.96006937139 + y: 4140931.8157388396 } - stop_heading: -2.1428256466201185 + stop_heading: -2.1376960449350042 } } } @@ -1737,10 +1737,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 587252.90441135294 - y: 4140931.871199857 + x: 587252.96006937139 + y: 4140931.8157388396 } - stop_heading: -2.1428256466201185 + stop_heading: -2.1376960449350042 } } } diff --git 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0.00013522091466090769 + a: -0.001147598726689643 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 587046.79737300833 - y: 4141551.8743966655 - theta: 1.1672966425355933 - kappa: -0.017902044877506865 - s: 3.0327870505583028 + x: 587046.8164386868 + y: 4141551.8294594917 + theta: 1.1427086386683911 + kappa: -0.030206179734685618 + s: 2.9993102002540377 dkappa: 0 ddkappa: 0 } - v: 4.6035817166634814e-17 - a: -0.0005876707426926411 + v: 1.4143417340023157e-16 + a: -0.0015666046029292136 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1705,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 401_0" stop_point { - x: 587048.90734266373 - y: 4141555.2245705938 + x: 587049.1260603983 + y: 4141555.070933091 } - stop_heading: 1.0942745899310278 + stop_heading: 1.0803512614956425 change_lane_type: FORWARD } } @@ -1722,10 +1721,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 587048.90734266373 - y: 4141555.2245705938 + x: 587049.1260603983 + y: 4141555.070933091 } - stop_heading: 1.0942745899310278 + stop_heading: 1.0803512614956425 } } } @@ -1737,10 +1736,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 587048.90734266373 - y: 4141555.2245705938 + x: 587049.1260603983 + y: 4141555.070933091 } - stop_heading: 1.0942745899310278 + stop_heading: 1.0803512614956425 } } } @@ -1752,10 +1751,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -3 stop_point { - x: 587048.90734266373 - y: 4141555.2245705938 + x: 587049.1260603983 + y: 4141555.070933091 } - stop_heading: 1.0942745899310278 + stop_heading: 1.0803512614956425 } } } @@ -1766,11 +1765,11 @@ decision { stop { distance_s: -3 stop_point { - x: 587049.78701307427 - y: 4141556.7917638244 + x: 587049.99482299108 + y: 4141556.5921773664 z: 0 } - stop_heading: 1.0266990382502452 + stop_heading: 1.0267808967263341 } } } @@ -1781,11 +1780,11 @@ decision { stop { distance_s: -3 stop_point { - x: 587049.78701307427 - y: 4141556.7917638244 + x: 587049.99482299108 + y: 4141556.5921773664 z: 0 } - stop_heading: 1.0266990382502452 + stop_heading: 1.0267808967263341 } } } @@ -1796,11 +1795,11 @@ decision { stop { distance_s: -3 stop_point { - x: 587049.78701307427 - y: 4141556.7917638244 + x: 587049.99482299108 + y: 4141556.5921773664 z: 0 } - stop_heading: 1.0266990382502452 + stop_heading: 1.0267808967263341 } } } -- GitLab