diff --git a/modules/map/hdmap/hdmap_common.h b/modules/map/hdmap/hdmap_common.h index e6fb668ed16de864f88084cb076827b160a6c8fd..322aa0e1479cb5eed9ffc9b6a5b7fc3ea685b3a3 100644 --- a/modules/map/hdmap/hdmap_common.h +++ b/modules/map/hdmap/hdmap_common.h @@ -26,6 +26,7 @@ limitations under the License. #include "modules/common/math/math_utils.h" #include "modules/common/math/polygon2d.h" #include "modules/common/math/vec2d.h" +#include "modules/map/proto/map_clear_area.pb.h" #include "modules/map/proto/map_crosswalk.pb.h" #include "modules/map/proto/map_id.pb.h" #include "modules/map/proto/map_junction.pb.h" @@ -33,10 +34,9 @@ limitations under the License. #include "modules/map/proto/map_overlap.pb.h" #include "modules/map/proto/map_road.pb.h" #include "modules/map/proto/map_signal.pb.h" +#include "modules/map/proto/map_speed_bump.pb.h" #include "modules/map/proto/map_stop_sign.pb.h" #include "modules/map/proto/map_yield_sign.pb.h" -#include "modules/map/proto/map_clear_area.pb.h" -#include "modules/map/proto/map_speed_bump.pb.h" /** * @namespace apollo::hdmap @@ -162,8 +162,8 @@ class LaneInfo { void Init(); void PostProcess(const HDMapImpl &map_instance); void UpdateOverlaps(const HDMapImpl &map_instance); - double GetWidthFromSample( - const std::vector &samples, const double s) const; + double GetWidthFromSample(const std::vector &samples, + const double s) const; void CreateKDTree(); void set_road_id(const Id &road_id) { road_id_ = road_id; } void set_section_id(const Id §ion_id) { section_id_ = section_id; } @@ -332,6 +332,7 @@ class SpeedBumpInfo { const std::vector &segments() const { return segments_; } + private: void Init(); diff --git a/modules/map/pnc_map/BUILD b/modules/map/pnc_map/BUILD index 13b533ff08a800f376ea9c7cdd62e852ba3dd640..d32aea890e26d05258def91a04fd89ae196a641f 100644 --- a/modules/map/pnc_map/BUILD +++ b/modules/map/pnc_map/BUILD @@ -13,6 +13,7 @@ cc_library( deps = [ "//modules/common/math", "//modules/map/hdmap", + "//modules/map/hdmap:hdmap_util", "//modules/map/proto:map_proto", "//modules/routing/proto:routing_proto", ], diff --git a/modules/map/pnc_map/path.cc b/modules/map/pnc_map/path.cc index cdcb3dcee384c3d476f891c967c9697472552c52..e2425bbbafd210347d2fc839491b03854988e7fb 100644 --- a/modules/map/pnc_map/path.cc +++ b/modules/map/pnc_map/path.cc @@ -64,6 +64,95 @@ std::string LaneWaypoint::DebugString() const { return common::util::StrCat("id = ", lane->id().id(), " s = ", s); } +LaneBoundaryType::Type LeftBoundaryType(const LaneWaypoint& waypoint) { + if (!waypoint.lane) { + return LaneBoundaryType::UNKNOWN; + } + for (const auto& type : + waypoint.lane->lane().left_boundary().boundary_type()) { + if (type.s() <= waypoint.s) { + if (type.types_size() > 0) { + return type.types(0); + } else { + return LaneBoundaryType::UNKNOWN; + } + } + } + return LaneBoundaryType::UNKNOWN; +} + +LaneBoundaryType::Type RightBoundaryType(const LaneWaypoint& waypoint) { + if (!waypoint.lane) { + return LaneBoundaryType::UNKNOWN; + } + for (const auto& type : + waypoint.lane->lane().right_boundary().boundary_type()) { + if (type.s() <= waypoint.s) { + if (type.types_size() > 0) { + return type.types(0); + } else { + return LaneBoundaryType::UNKNOWN; + } + } + } + return LaneBoundaryType::UNKNOWN; +} + +LaneWaypoint LeftNeighborWaypoint(const LaneWaypoint& waypoint) { + LaneWaypoint neighbor; + if (!waypoint.lane) { + return neighbor; + } + auto point = waypoint.lane->GetSmoothPoint(waypoint.s); + auto map_ptr = HDMapUtil::BaseMapPtr(); + for (const auto& lane_id : + waypoint.lane->lane().left_neighbor_forward_lane_id()) { + auto lane = map_ptr->GetLaneById(lane_id); + if (!lane) { + return neighbor; + } + double s = 0.0; + double l = 0.0; + if (!lane->GetProjection({point.x(), point.y()}, &s, &l)) { + continue; + } + + if (s < -kSampleDistance || s > lane->total_length() + kSampleDistance) { + continue; + } else { + return LaneWaypoint(lane, s); + } + } + return neighbor; +} + +LaneWaypoint RightNeighborWaypoint(const LaneWaypoint& waypoint) { + LaneWaypoint neighbor; + if (!waypoint.lane) { + return neighbor; + } + auto point = waypoint.lane->GetSmoothPoint(waypoint.s); + auto map_ptr = HDMapUtil::BaseMapPtr(); + for (const auto& lane_id : + waypoint.lane->lane().right_neighbor_forward_lane_id()) { + auto lane = map_ptr->GetLaneById(lane_id); + if (!lane) { + return neighbor; + } + double s = 0.0; + double l = 0.0; + if (!lane->GetProjection({point.x(), point.y()}, &s, &l)) { + continue; + } + if (s < -kSampleDistance || s > lane->total_length() + kSampleDistance) { + continue; + } else { + return LaneWaypoint(lane, s); + } + } + return neighbor; +} + std::string LaneSegment::DebugString() const { if (lane == nullptr) { return "(lane is null)"; diff --git a/modules/map/pnc_map/path.h b/modules/map/pnc_map/path.h index 447341deb266489792cb89cc3d984d9ffa8271a3..5c03a7e76362b0b753e07a2d984b6211cd926445 100644 --- a/modules/map/pnc_map/path.h +++ b/modules/map/pnc_map/path.h @@ -33,6 +33,7 @@ #include "modules/common/math/vec2d.h" #include "modules/map/hdmap/hdmap.h" #include "modules/map/hdmap/hdmap_common.h" +#include "modules/map/hdmap/hdmap_util.h" namespace apollo { namespace hdmap { @@ -53,6 +54,28 @@ struct LaneWaypoint { std::string DebugString() const; }; +/** + * @brief get left boundary type at a waypoint. + */ +LaneBoundaryType::Type LeftBoundaryType(const LaneWaypoint& waypoint); + +/** + * @brief get left boundary type at a waypoint. + */ +LaneBoundaryType::Type RightBoundaryType(const LaneWaypoint& waypoint); + +/** + * @brief get left neighbor lane waypoint. If not exist, the Waypoint.lane will + * be null. + */ +LaneWaypoint LeftNeighborWaypoint(const LaneWaypoint& waypoint); + +/** + * @brief get left neighbor lane waypoint. If not exist, the Waypoint.lane will + * be null. + */ +LaneWaypoint RightNeighborWaypoint(const LaneWaypoint& waypoint); + struct LaneSegment { LaneSegment() = default; LaneSegment(LaneInfoConstPtr lane, const double start_s, const double end_s) diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc index 97d73423a2ac6db42ea5041a3598a801da56af19..2c27519135620f9ff9a49a68f544eeff2d5bb35d 100644 --- a/modules/planning/common/planning_gflags.cc +++ b/modules/planning/common/planning_gflags.cc @@ -61,6 +61,9 @@ DEFINE_double(reference_line_stitch_overlap_distance, 20, DEFINE_double(reference_line_lateral_buffer, 0.5, "When creating reference line, the minimum distance with road " "curb for a vehicle driving on this line."); +DEFINE_double(reference_line_lateral_extension, 0.5, + "When creating reference line, the minimum distance with road " + "curb for a vehicle driving on this line."); DEFINE_double(prepare_rerouting_time, 2.0, "If there are this amount of seconds left to finish driving on " "current route, and there is no routing, do rerouting"); diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h index 2d9940eaf77224588980efe63c39edf591101b1b..f12d214be8246f31bd5b2f55efa0ed7ed1344544 100644 --- a/modules/planning/common/planning_gflags.h +++ b/modules/planning/common/planning_gflags.h @@ -35,6 +35,7 @@ DECLARE_bool(enable_reference_line_stitching); DECLARE_double(look_forward_extend_distance); DECLARE_double(reference_line_stitch_overlap_distance); DECLARE_double(reference_line_lateral_buffer); +DECLARE_double(reference_line_lateral_extension); DECLARE_double(prepare_rerouting_time); DECLARE_double(rerouting_cooldown_time); diff --git a/modules/planning/reference_line/reference_line_provider.cc b/modules/planning/reference_line/reference_line_provider.cc index 6aad191ecb3ccadda5f8113994366fa719debfba..8f721f028d19248bf8d42e1556ef3d0b7cf71f6c 100644 --- a/modules/planning/reference_line/reference_line_provider.cc +++ b/modules/planning/reference_line/reference_line_provider.cc @@ -499,12 +499,71 @@ bool ReferenceLineProvider::IsReferenceLineSmoothValid( return true; } +AnchorPoint ReferenceLineProvider::GetAnchorPoint( + const ReferenceLine &reference_line, double s) const { + AnchorPoint anchor; + anchor.longitudinal_bound = smoother_config_.longitudinal_boundary_bound(); + const auto half_width = + VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0; + auto ref_point = reference_line.GetReferencePoint(s); + if (FLAGS_reference_line_lateral_extension > 1e-6 && + ref_point.lane_waypoints().empty()) { + double left_width = 0.0; + double right_width = 0.0; + reference_line.GetLaneWidth(s, &left_width, &right_width); + auto shift = (left_width - right_width) / 2.0 * + Vec2d::CreateUnitVec2d(ref_point.heading() + M_PI / 2.0); + ref_point += shift; + anchor.path_point = ref_point.ToPathPoint(s); + double effective_width = (left_width + right_width) / 2.0; + anchor.lateral_bound = std::max( + smoother_config_.lateral_boundary_bound(), + effective_width - half_width - FLAGS_reference_line_lateral_buffer); + } else { + const auto &waypoint = ref_point.lane_waypoints().front(); + auto left_boundary_type = LeftBoundaryType(waypoint); + double left_extend = 0.0; + if (left_boundary_type == hdmap::LaneBoundaryType::DOTTED_WHITE) { + auto neighbor = LeftNeighborWaypoint(waypoint); + if (neighbor.lane && + (neighbor.lane->lane().type() == hdmap::Lane::BIKING || + neighbor.lane->lane().type() == hdmap::Lane::CITY_DRIVING || + neighbor.lane->lane().type() == hdmap::Lane::PARKING)) { + left_extend = FLAGS_reference_line_lateral_extension; + } + } + auto right_boundary_type = RightBoundaryType(waypoint); + double right_extend = 0.0; + if (right_boundary_type == hdmap::LaneBoundaryType::DOTTED_WHITE) { + auto neighbor = RightNeighborWaypoint(waypoint); + if (neighbor.lane && + (neighbor.lane->lane().type() == hdmap::Lane::BIKING || + neighbor.lane->lane().type() == hdmap::Lane::CITY_DRIVING || + neighbor.lane->lane().type() == hdmap::Lane::PARKING)) { + right_extend = FLAGS_reference_line_lateral_extension; + } + } + double left_width = 0.0; + double right_width = 0.0; + reference_line.GetLaneWidth(s, &left_width, &right_width); + left_width += left_extend; + right_width += right_extend; + auto shift = (left_width - right_width) / 2.0 * + Vec2d::CreateUnitVec2d(ref_point.heading() + M_PI / 2.0); + ref_point += shift; + anchor.path_point = ref_point.ToPathPoint(s); + double effective_width = (left_width + right_width) / 2.0; + anchor.lateral_bound = std::max( + smoother_config_.lateral_boundary_bound(), + effective_width - half_width - FLAGS_reference_line_lateral_buffer); + } + return anchor; +} + void ReferenceLineProvider::GetAnchorPoints( const ReferenceLine &reference_line, std::vector *anchor_points) const { CHECK_NOTNULL(anchor_points); - const auto half_width = - VehicleConfigHelper::GetConfig().vehicle_param().width() / 2.0; const double interval = smoother_config_.max_constraint_interval(); int num_of_anchors = std::max(2, static_cast(reference_line.Length() / interval + 0.5)); @@ -512,19 +571,7 @@ void ReferenceLineProvider::GetAnchorPoints( common::util::uniform_slice(0.0, reference_line.Length(), num_of_anchors - 1, &anchor_s); for (const double s : anchor_s) { - anchor_points->emplace_back(); - auto &last_anchor = anchor_points->back(); - auto ref_point = reference_line.GetReferencePoint(s); - last_anchor.path_point = ref_point.ToPathPoint(s); - last_anchor.longitudinal_bound = - smoother_config_.longitudinal_boundary_bound(); - double left_width = 0.0; - double right_width = 0.0; - reference_line.GetLaneWidth(s, &left_width, &right_width); - last_anchor.lateral_bound = - std::max(smoother_config_.lateral_boundary_bound(), - std::min(left_width, right_width) - half_width - - FLAGS_reference_line_lateral_buffer); + anchor_points->emplace_back(GetAnchorPoint(reference_line, s)); } anchor_points->front().longitudinal_bound = 1e-6; anchor_points->front().lateral_bound = 1e-6; diff --git a/modules/planning/reference_line/reference_line_provider.h b/modules/planning/reference_line/reference_line_provider.h index 2e7bc29918d9cd0e4aefb091d126b94a5f2075fa..5651b4c41dc4c13d5e08bb85d863b03b306b5d07 100644 --- a/modules/planning/reference_line/reference_line_provider.h +++ b/modules/planning/reference_line/reference_line_provider.h @@ -133,6 +133,9 @@ class ReferenceLineProvider { hdmap::RouteSegments* segments, ReferenceLine* reference_line); + AnchorPoint GetAnchorPoint(const ReferenceLine& reference_line, + double s) const; + private: DECLARE_SINGLETON(ReferenceLineProvider); 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 d4aba42893b21be7b3d9b0d4d0d4d3544661433d..4e4681745918914811076098afaaa6374a9cd003 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 +1,1703 @@ header { module_name: "planning" } -total_path_length: 36.032314055093366 +total_path_length: 36.032314055093359 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - 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a: -0.018823270849159458 + a: -0.01882327084916004 relative_time: 7.1999999999999913 } trajectory_point { path_point { - x: 586353.2240578793 - y: 4140731.9653923674 - theta: 1.3229392421580457 - kappa: 8.2636774358863991e-05 + x: 586353.20776929136 + y: 4140731.9695522767 + theta: 1.3234077989943991 + kappa: -1.7387062232476606e-05 s: 32.898707061972495 dkappa: 0 ddkappa: 0 } v: 4.4948519089511567 - a: -0.0265331649435339 + a: -0.026533164943534467 relative_time: 7.2999999999999909 } trajectory_point { path_point { - x: 586353.33427157509 - y: 4140732.4010040835 - theta: 1.3229504283691118 - kappa: 3.1077810603919485e-05 + x: 586353.31780314515 + y: 4140732.4052094547 + theta: 1.3233747669184264 + kappa: -7.0190433560961808e-05 s: 33.348045048419067 dkappa: 0 ddkappa: 0 } - v: 4.4917565838224975 - a: -0.035608922628900745 + v: 4.4917565838224967 + a: -0.035608922628901467 relative_time: 7.3999999999999906 } trajectory_point { path_point { - x: 586353.44439763064 - y: 4140732.8362694085 - theta: 1.3229616056850704 - kappa: -2.0440154233004285e-05 + x: 586353.42774950166 + y: 4140732.840520205 + theta: 1.3233417611090565 + kappa: -0.00012295181643710718 s: 33.797025728009018 dkappa: 0 ddkappa: 0 } - v: 4.4876814192120555 - a: -0.046145836713934005 + v: 4.4876814192120547 + a: -0.046145836713934893 relative_time: 7.49999999999999 } trajectory_point { path_point { - x: 586353.55441018136 - y: 4140733.2710861131 - theta: 1.3229727714807904 - kappa: -7.1905020533779508e-05 + x: 586353.53758253867 + y: 4140733.2753822892 + theta: 1.3233087893181754 + kappa: -0.0001756588192109957 s: 34.245543652190818 dkappa: 0 ddkappa: 0 } v: 4.4824755348394323 - a: -0.058239200007307659 + a: -0.058239200007308645 relative_time: 7.59999999999999 } trajectory_point { path_point { - x: 586353.66432663752 - y: 4140733.7053249637 - theta: 1.3229306193100416 - kappa: -0.00011580117181861423 + x: 586353.64737568493 + y: 4140733.7096523279 + theta: 1.3232219912614156 + kappa: -0.00022028100491389244 s: 34.693477807920878 dkappa: 0 ddkappa: 0 } v: 4.47597852114336 - a: -0.071984305317695438 + a: -0.07198430531769659 relative_time: 7.6999999999999895 } trajectory_point { path_point { - x: 586353.774094528 - y: 4140734.1388573721 - theta: 1.3228563546120775 - kappa: -0.0001550976854596495 + x: 586353.75705465383 + y: 4140734.1432072408 + theta: 1.3231026023898587 + kappa: -0.00025996073318025213 s: 35.140690664735395 dkappa: 0 ddkappa: 0 } v: 4.4680204392817027 - a: -0.087476445453771257 + a: -0.087476445453772658 relative_time: 7.7999999999999892 } trajectory_point { path_point { - x: 586353.883647332 - y: 4140734.5715402877 - theta: 1.3227822354329861 - kappa: -0.00019431719880055209 + x: 586353.86651871016 + y: 4140734.5759126171 + theta: 1.3229834474550104 + kappa: -0.00029956271024930204 s: 35.587027221822346 dkappa: 0 ddkappa: 0 } - v: 4.45842182113146 - a: -0.10481091322420918 + v: 4.4584218211314592 + a: -0.10481091322421078 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 586353.99294248235 - y: 4140735.0032055909 - theta: 1.3227082905725924 - kappa: -0.00023344447309773419 - s: 36.032314055093366 + x: 586353.97572532168 + y: 4140735.0076003284 + theta: 1.32286457275791 + kappa: -0.00033907154877115561 + s: 36.032314055093359 dkappa: 0 ddkappa: 0 } - v: 4.44699366928876 - a: -0.12408300143768276 + v: 4.4469936692887595 + a: -0.12408300143768464 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1706,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 change_lane_type: FORWARD } } @@ -1722,11 +1722,11 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 z: 0 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 } } } diff --git a/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt b/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt index c9979e46abe167847c51c723d6f936f24c491fb0..d0cc4d1bf19e5c2ad17e09ff059abee0f82f51bb 100644 --- a/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_out_of_map_0.pb.txt @@ -1,1702 +1,1703 @@ header { module_name: "planning" } -total_path_length: 19.3852938975459 +total_path_length: 19.387459703634061 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - 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x: 586366.574862832 - y: 4140780.3974769209 - theta: 1.2919271741106404 - kappa: -0.0011794484891977661 - s: 19.3852938975459 + x: 586366.579950135 + y: 4140780.39832737 + theta: 1.2923127616010233 + kappa: -0.0010028021207140526 + s: 19.387459703634061 dkappa: 0 ddkappa: 0 } - v: 0.014536745713966273 - a: 0.22426857554797147 + v: 0.01454290736159085 + a: 0.22436437513782445 relative_time: 7.9999999999999885 } decision { @@ -1705,10 +1706,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 change_lane_type: FORWARD } } @@ -1721,11 +1722,11 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 z: 0 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 } } } 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 c9979e46abe167847c51c723d6f936f24c491fb0..d0cc4d1bf19e5c2ad17e09ff059abee0f82f51bb 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 @@ -1,1702 +1,1703 @@ header { module_name: "planning" } -total_path_length: 19.3852938975459 +total_path_length: 19.387459703634061 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - 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x: 586366.574862832 - y: 4140780.3974769209 - theta: 1.2919271741106404 - kappa: -0.0011794484891977661 - s: 19.3852938975459 + x: 586366.579950135 + y: 4140780.39832737 + theta: 1.2923127616010233 + kappa: -0.0010028021207140526 + s: 19.387459703634061 dkappa: 0 ddkappa: 0 } - v: 0.014536745713966273 - a: 0.22426857554797147 + v: 0.01454290736159085 + a: 0.22436437513782445 relative_time: 7.9999999999999885 } decision { @@ -1705,10 +1706,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 change_lane_type: FORWARD } } @@ -1721,11 +1722,11 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 z: 0 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 } } } diff --git a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt index b00570e886e3c219f030d8f9df4aab1a9c6f0689..9b8d15922bb3c7c783360f41457a770fca4a36f8 100644 --- a/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt @@ -1,1703 +1,1702 @@ header { module_name: "planning" } -total_path_length: 9.2456905196758132 +total_path_length: 9.2433388501453635 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - 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x: 586344.74387235241 - y: 4140699.197935353 - theta: 1.2773003893436776 - kappa: -0.031363674078521551 - s: 9.2413420540063473 + x: 586344.75282867544 + y: 4140699.1936906707 + theta: 1.2749488520000225 + kappa: -0.031312015385926428 + s: 9.2389971876733412 dkappa: 0 ddkappa: 0 } - v: 0.001997416535960206 - a: -0.013652202522421835 + v: 0.0019942915672687533 + a: -0.01363084357966899 relative_time: 7.0999999999999917 } trajectory_point { path_point { - x: 586344.743908192 - y: 4140699.1980666178 - theta: 1.277295089751967 - kappa: -0.03136277596105335 - s: 9.2414781232618868 + x: 586344.75286472414 + y: 4140699.193821657 + theta: 1.2749435573784322 + kappa: -0.0313111065933365 + s: 9.2391330440478132 dkappa: 0 ddkappa: 0 } - v: 0.00077665971929400854 - a: -0.010487449571045257 + v: 0.000775444631072053 + a: -0.010471041900953449 relative_time: 7.1999999999999913 } trajectory_point { path_point { - x: 586344.7439167928 - y: 4140699.1980981189 - theta: 1.2772938179410993 - kappa: -0.0313625604282614 - s: 9.2415107775499763 + x: 586344.7528733752 + y: 4140699.1938530914 + theta: 1.2749422867603097 + kappa: -0.031310888498698383 + s: 9.2391656472480985 dkappa: 0 ddkappa: 0 } v: 0 - a: -0.00557126270572839 + a: -0.00556254643588112 relative_time: 7.2999999999999909 } trajectory_point { path_point { - x: 586344.74391114712 - y: 4140699.1980774412 - theta: 1.2772946527702778 - kappa: -0.031362701906110582 - s: 9.2414893429533951 + x: 586344.75286769657 + y: 4140699.1938324575 + theta: 1.2749431208065582 + kappa: -0.031311031658168641 + s: 9.239144246186056 dkappa: 0 ddkappa: 0 } v: 0 - a: 0.0012934150230823533 + a: 0.0012913914684665301 relative_time: 7.3999999999999906 } trajectory_point { path_point { - x: 586344.74390937923 - y: 4140699.1980709657 - theta: 1.2772949142066221 - kappa: -0.031362746211522227 - s: 9.2414826304635564 + x: 586344.75286591833 + y: 4140699.1938259955 + theta: 1.2749433819977194 + kappa: -0.031311076490199236 + s: 9.2391375441979413 dkappa: 0 ddkappa: 0 } - v: 0.00028850901726749613 - a: 0.010303640564940948 + v: 0.0002880576433899426 + a: 0.010287520465007867 relative_time: 7.49999999999999 } trajectory_point { path_point { - x: 586344.7439352643 - y: 4140699.1981657716 - theta: 1.2772910865750795 - kappa: -0.031362097545741027 - s: 9.24158090655 + x: 586344.75289195438 + y: 4140699.1939206007 + theta: 1.2749395579558549 + kappa: -0.031310420114306126 + s: 9.2392356665309325 dkappa: 0 ddkappa: 0 } - v: 0.0018661718120062075 - a: 0.021656470869401145 + v: 0.0018632521763769436 + a: 0.0216225892066612 relative_time: 7.59999999999999 } trajectory_point { path_point { - x: 586344.74401874852 - y: 4140699.1984715369 - theta: 1.2772787418154052 - kappa: -0.031360005487701827 - s: 9.2418978637299 + x: 586344.7529759258 + y: 4140699.1942257183 + theta: 1.2749272247735421 + kappa: -0.031308303189837954 + s: 9.2395521278296542 dkappa: 0 ddkappa: 0 } - v: 0.004704458581552824 - a: 0.035548962886016916 + v: 0.0046970984313232014 + a: 0.035493346346344726 relative_time: 7.6999999999999895 } trajectory_point { path_point { - x: 586344.74419646652 - y: 4140699.1991224387 - theta: 1.2772524627535073 - kappa: -0.031355551987396563 - s: 9.2425725911375451 + x: 586344.75315468071 + y: 4140699.1948752413 + theta: 1.2749009703573062 + kappa: -0.031303796754744609 + s: 9.2402257996227153 dkappa: 0 ddkappa: 0 } - v: 0.0090671883445999444 - a: 0.052178173564342026 + v: 0.0090530026806775778 + a: 0.052096540536977147 relative_time: 7.7999999999999892 } trajectory_point { path_point { - x: 586344.74451226182 - y: 4140699.2002790561 - theta: 1.2772057663974912 - kappa: -0.031347638359241155 - s: 9.2437715450938427 + x: 586344.75347231887 + y: 4140699.1960294088 + theta: 1.2748543177958918 + kappa: -0.031295789064345853 + s: 9.2414228778092333 dkappa: 0 ddkappa: 0 } - v: 0.015237885814796497 - a: 0.071741159853930217 + v: 0.015214046062180939 + a: 0.071628920431476437 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 586344.74501770525 - y: 4140699.2021302693 - theta: 1.2771310272725307 - kappa: -0.031334972275442331 - s: 9.2456905196758132 + x: 586344.75398071145 + y: 4140699.1978767 + theta: 1.2747796487675673 + kappa: -0.03128297243009999 + s: 9.2433388501453635 dkappa: 0 ddkappa: 0 } - v: 0.02351978140074644 - a: 0.094434978704335523 + v: 0.023482984578865471 + a: 0.09428723468276097 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1705,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 1_0" stop_point { - x: 586345.20425900875 - y: 4140703.1364937108 + x: 586345.20927049813 + y: 4140703.134752254 } - stop_heading: 1.2567355733668926 + stop_heading: 1.2558342656382055 change_lane_type: FORWARD } } @@ -1722,10 +1721,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -6 stop_point { - x: 586345.20425900875 - y: 4140703.1364937108 + x: 586345.20927049813 + y: 4140703.134752254 } - stop_heading: 1.2567355733668926 + stop_heading: 1.2558342656382055 } } } @@ -1737,11 +1736,11 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 z: 0 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 } } } 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 811a3d19bc6ce5b65571c5dfd7c43801282ebfc1..1d0f2b352732756b7189821df207054cac617283 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: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -22,11 +22,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -37,11 +37,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -52,11 +52,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -67,11 +67,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -82,11 +82,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -97,11 +97,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -112,11 +112,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -127,11 +127,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -142,11 +142,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -157,11 +157,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -172,11 +172,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -187,11 +187,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -202,11 +202,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -217,11 +217,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -232,11 +232,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -247,11 +247,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -262,11 +262,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -277,11 +277,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -292,11 +292,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -307,11 +307,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -322,11 +322,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -337,11 +337,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -352,11 +352,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -367,11 +367,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -382,11 +382,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -397,11 +397,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -412,11 +412,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -427,11 +427,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -442,11 +442,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -457,11 +457,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -472,11 +472,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -487,11 +487,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -502,11 +502,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -517,11 +517,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -532,11 +532,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -547,11 +547,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -562,11 +562,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -577,11 +577,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -592,11 +592,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -607,11 +607,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -622,11 +622,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -637,11 +637,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -652,11 +652,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -667,11 +667,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -682,11 +682,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -697,11 +697,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -712,11 +712,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -727,11 +727,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -742,11 +742,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -757,11 +757,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -772,11 +772,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -787,11 +787,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -802,11 +802,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -817,11 +817,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -832,11 +832,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -847,11 +847,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -862,11 +862,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -877,11 +877,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -892,11 +892,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -907,11 +907,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -922,11 +922,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -937,11 +937,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -952,11 +952,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -967,11 +967,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -982,11 +982,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -997,11 +997,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -1012,11 +1012,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -1027,11 +1027,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-05 s: 0 dkappa: 0 ddkappa: 0 @@ -1042,11 +1042,11 @@ trajectory_point { } trajectory_point { path_point { - x: 586354.03059500444 - y: 4140735.5242160754 + x: 586354.03059481084 + y: 4140735.5242153076 z: 0 theta: 1.3120887936 - kappa: 3.7846794424699882e-05 + kappa: 3.7846794424699787e-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: 586354.05696787883 - y: 4140735.25617709 + x: 586354.03986473475 + y: 4140735.2612910336 } - stop_heading: 1.3226448512227573 + stop_heading: 1.3227624071578079 change_lane_type: FORWARD } } @@ -1077,10 +1077,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -6 stop_point { - x: 586354.05696787883 - y: 4140735.25617709 + x: 586354.03986473475 + y: 4140735.2612910336 } - stop_heading: 1.3226448512227573 + stop_heading: 1.3227624071578079 } } } @@ -1092,11 +1092,11 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 586367.36158961884 - y: 4140784.2294039493 + x: 586367.36456201074 + y: 4140784.2306402451 z: 0 } - stop_heading: 1.2879351134975765 + stop_heading: 1.2890464038194605 } } } 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 cb9e7be43f0b335f0d8e4426f1fec43503db113c..1c973e4ca062a66cd116470544e23b645df8a67d 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 @@ -7,11 +7,11 @@ is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587569.0072685302 - y: 4141500.3527469286 + x: 587569.00735136948 + y: 4141500.3527260879 z: 0 theta: 2.8987073227943752 - kappa: -2.7705311457342016e-21 + kappa: -8.2154304481963113e-21 s: 0 dkappa: 0 ddkappa: 0 @@ -22,10 +22,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.78885529551 - y: 4141500.4067731923 - theta: 2.8988408652999165 - kappa: 0.00012523559235786986 + x: 587568.788943091 + y: 4141500.4067723849 + theta: 2.8988193613366189 + kappa: 0.00010982317788408795 s: 0.22499595167423742 dkappa: 0 ddkappa: 0 @@ -36,10 +36,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.57044265466 - y: 4141500.4607993094 - theta: 2.8989744074587906 - kappa: 0.000250470844233378 + x: 587568.57053540647 + y: 4141500.4608185347 + theta: 2.8989313995839447 + kappa: 0.00021964605718808165 s: 0.44999129164415375 dkappa: 0 ddkappa: 0 @@ -50,10 +50,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.352019901 - y: 4141500.5148279276 - theta: 2.8991079558124384 - kappa: 0.0003757118946267893 + x: 587568.35211760947 + y: 4141500.514867187 + theta: 2.8990434430256267 + kappa: 0.00032947402140165373 s: 0.6749970491242151 dkappa: 0 ddkappa: 0 @@ -64,10 +64,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587568.13357658254 - y: 4141500.5688616326 - theta: 2.899241516746744 - kappa: 0.000500964736658138 + x: 587568.13367924793 + y: 4141500.5689209281 + theta: 2.8991554970204314 + kappa: 0.00043931232608734216 s: 0.90002399124316068 dkappa: 0 ddkappa: 0 @@ -78,10 +78,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.91510249907 - y: 4141500.6229029484 - theta: 2.8993750964936593 - kappa: 0.00062623521909053288 + x: 587567.915210122 + y: 4141500.6229822822 + theta: 2.89926756679798 + kappa: 0.00054916610021638577 s: 1.1250826257807434 dkappa: 0 ddkappa: 0 @@ -92,10 +92,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.696587699 - y: 4141500.6769543355 - theta: 2.8995087011328238 - kappa: 0.00075152904785346091 + x: 587567.69670028065 + y: 4141500.6770537114 + theta: 2.8993796574601105 + kappa: 0.00065904034750455937 s: 1.3501832039044706 dkappa: 0 ddkappa: 0 @@ -106,10 +106,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.47802247759 - y: 4141500.731018194 - theta: 2.899642336593188 - kappa: 0.00087685178756609285 + x: 587567.478140019 + y: 4141500.731137617 + theta: 2.8994917739822359 + kappa: 0.00076893994774801 s: 1.5753357229063456 dkappa: 0 ddkappa: 0 @@ -120,10 +120,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.259397374 - y: 4141500.7850968656 - theta: 2.8997760086546345 - kappa: 0.0010022088630605875 + x: 587567.25951987656 + y: 4141500.7852363409 + theta: 2.8996039212147093 + kappa: 0.0008788696581590919 s: 1.8005499289396085 dkappa: 0 ddkappa: 0 @@ -134,10 +134,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587567.04068943346 - y: 4141500.839136844 - theta: 2.8999345744899658 - kappa: 0.0011231443857807112 + x: 587567.04081859812 + y: 4141500.8393033282 + theta: 2.8997383688501839 + kappa: 0.00098493251252862847 s: 2.0258353197554761 dkappa: 0 ddkappa: 0 @@ -148,10 +148,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587566.82180021284 - 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theta: 2.9013167917922251 - kappa: 0.0014732117379205551 + x: 587566.16478338791 + y: 4141501.0543129472 + theta: 2.9009481171657567 + kappa: 0.0012919475787787694 s: 2.927870145056052 dkappa: 0 ddkappa: 0 @@ -204,10 +204,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.94529055606 - y: 4141501.1075710626 - theta: 2.9016627548667415 - kappa: 0.0015608320289621736 + x: 587565.94551569654 + y: 4141501.1081288923 + theta: 2.9012509119355321 + kappa: 0.0013687920754008164 s: 3.1536454235542846 dkappa: 0 ddkappa: 0 @@ -218,10 +218,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.72588408133 - y: 4141501.1613379661 - theta: 2.9020089065271937 - kappa: 0.001648500096571959 + x: 587565.72612844547 + y: 4141501.1619741814 + theta: 2.9015538717716689 + kappa: 0.0014456784728917997 s: 3.3795438101574464 dkappa: 0 ddkappa: 0 @@ -232,10 +232,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587565.506350426 - y: 4141501.2151360358 - theta: 2.90235525869716 - 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kappa: 0.001215265609187386 + x: 587491.54805039626 + y: 4141517.2964350055 + theta: 2.9648529563608483 + kappa: 0.0011368338617108852 s: 79.303306106750384 dkappa: 0 ddkappa: 0 @@ -1464,10 +1464,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587490.29953209742 - y: 4141517.7408067766 - theta: 2.9575488942378327 - kappa: 0.0012579959733091044 + x: 587490.25597762375 + y: 4141517.5261048255 + theta: 2.9663878866533522 + kappa: 0.0011609262893380475 s: 80.615633180765556 dkappa: 0 ddkappa: 0 @@ -1478,10 +1478,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587489.0090815908 - y: 4141517.9797585253 - theta: 2.9594094742898704 - kappa: 0.001319602948105205 + x: 587488.96349053679 + y: 4141517.7537834984 + theta: 2.9676646585180961 + kappa: 0.0012046685342496756 s: 81.928020489477447 dkappa: 0 ddkappa: 0 @@ -1492,10 +1492,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587487.718045743 - y: 4141518.215843847 - theta: 2.9610021664355743 - kappa: 0.0014088793482584061 + x: 587487.67050331854 + y: 4141517.9789370066 + theta: 2.9694002638093759 + kappa: 0.0012755561712114159 s: 83.240465405642809 dkappa: 0 ddkappa: 0 @@ -1506,10 +1506,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587486.42664631759 - y: 4141518.4501973386 - theta: 2.9627485161532996 - kappa: 0.0015150970180093752 + x: 587486.37719785934 + y: 4141518.2025342276 + theta: 2.9711737784372358 + kappa: 0.0013634866986507387 s: 84.55295814251906 dkappa: 0 ddkappa: 0 @@ -1520,10 +1520,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587485.13472911448 - y: 4141518.6818548515 - theta: 2.964998672464394 - kappa: 0.0016477748914813374 + x: 587485.08342984563 + y: 4141518.4236215167 + theta: 2.9727522208226218 + kappa: 0.0014791145733198654 s: 85.865480623416943 dkappa: 0 ddkappa: 0 @@ -1534,10 +1534,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587483.84221874527 - y: 4141518.910184795 - theta: 2.967095289505548 - kappa: 0.0018124237403334773 + x: 587483.78916097013 + y: 4141518.6417640741 + theta: 2.9748810168130038 + kappa: 0.0016261811040530435 s: 87.178005351253262 dkappa: 0 ddkappa: 0 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 914f63af095fb0c838fc83e5e1ac25eb171f2d3b..d203b022a0c882a6f0ddd5028e8851d5d7de1cc1 100644 --- 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 @@ -7,10 +7,10 @@ is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - 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s: 45.046096356867807 + x: 587259.15173070482 + y: 4140946.9016792686 + theta: -1.8691883471242954 + kappa: -0.0085382572705136016 + s: 44.832214595835971 dkappa: 0 ddkappa: 0 } - v: 5.052298486437472 - a: -0.68656533150488464 + v: 5.1455455103592671 + a: -0.54224262581125127 relative_time: 7.49999999999999 } trajectory_point { path_point { - x: 587258.972824252 - y: 4140946.211610686 - theta: -1.87164636812137 - kappa: -0.0098074394743469032 - s: 45.547773930812845 + x: 587258.99778967071 + y: 4140946.4136314266 + theta: -1.8737008676734452 + kappa: -0.00895619043280254 + s: 45.343965060185255 dkappa: 0 ddkappa: 0 } - v: 4.9800360139711648 - a: -0.7595870745523855 + v: 5.0885176804053343 + a: -0.59901068763387322 relative_time: 7.59999999999999 } trajectory_point { path_point { - x: 587258.82549119194 - y: 4140945.740012168 - theta: -1.8762997236958248 - kappa: -0.010234489280120338 - s: 46.041851043390572 + x: 587258.84565160179 + y: 4140945.9312996259 + theta: -1.87816062830064 + kappa: -0.0093692287404784844 + s: 45.849721876872309 dkappa: 0 ddkappa: 0 } - v: 4.900197446656021 - a: -0.8381175637291095 + v: 5.0256017413972938 + a: -0.66002769251246729 relative_time: 7.6999999999999895 } trajectory_point { path_point { - x: 587258.68065880029 - y: 4140945.2764180405 - theta: -1.8808739217996646 - kappa: -0.010654290815260847 - s: 46.527542238033007 + x: 587258.69550007954 + y: 4140945.4552658852 + theta: -1.8825620702735679 + kappa: -0.00977687379023928 + s: 46.348874761420269 dkappa: 0 ddkappa: 0 } - v: 4.8122228093048625 - a: -0.92233881052023714 + v: 4.9563659333438377 + a: -0.72543095416117087 relative_time: 7.7999999999999892 } trajectory_point { path_point { - x: 587258.53023628553 - y: 4140944.8243369493 - theta: -1.8860193010768751 - kappa: -0.011113216395965322 - s: 47.004005150595987 + x: 587258.542949674 + y: 4140944.9876499153 + theta: -1.8872651642747753 + kappa: -0.010208059171424607 + s: 46.840769566784559 dkappa: 0 ddkappa: 0 } - v: 4.7155339255819886 - a: -1.0124328264109479 + v: 4.880364764882251 + a: -0.79535778629412268 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 587258.381667513 - y: 4140944.3823026866 - theta: -1.8911616735450882 - kappa: -0.011569974865400264 - s: 47.470338689244365 + x: 587258.38817588554 + y: 4140944.5291300938 + theta: -1.8922669620446055 + kappa: -0.010662438045450896 + s: 47.324706910215724 dkappa: 0 ddkappa: 0 } - v: 4.6095344180031823 - a: -1.1085816228864238 + v: 4.797139013278402 + a: -0.86994550262546089 relative_time: 7.9999999999999885 } decision { @@ -1714,11 +1714,11 @@ decision { follow { distance_s: -14.199999809265137 fence_point { - x: 587269.15528823342 - y: 4140986.5907448861 + x: 587269.30955464824 + y: 4140986.6528007775 z: 0 } - fence_heading: -1.8403961412839864 + fence_heading: -1.8379766795740933 } } } 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 bd4470e25304ff348483011309768c869916d48d..6ff83657248d64492157f4255ccb2db2de2f27d8 100644 --- 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 @@ -7,11 +7,11 @@ is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - 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kappa: -0.013858135024601967 + x: 587713.36404841277 + y: 4141426.0542017953 + theta: -1.7869090926703906 + kappa: -0.013608742737018863 s: 0.36636621931083546 dkappa: 0 ddkappa: 0 @@ -64,10 +64,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587713.33581973752 - y: 4141425.9350548126 - theta: -1.7887768672043363 - kappa: -0.013429402563457206 + x: 587713.33599218959 + y: 4141425.9341140022 + theta: -1.7884689910449727 + kappa: -0.01309606293820614 s: 0.48968787059635793 dkappa: 0 ddkappa: 0 @@ -78,10 +78,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587713.30755291053 - y: 4141425.8144004266 - theta: -1.7904223100417926 - kappa: -0.012998585318282909 + x: 587713.30779953848 + y: 4141425.8134422624 + theta: -1.790036506314558 + kappa: -0.012580890147251 s: 0.61360919424727589 dkappa: 0 ddkappa: 0 @@ -92,10 +92,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587713.27914930857 - y: 4141425.6931622284 - theta: -1.7920757429097929 - kappa: -0.01256568347390871 + x: 587713.27947047132 + y: 4141425.6921866271 + theta: -1.7916116305085392 + kappa: -0.01206322458517339 s: 0.73813013709874009 dkappa: 0 ddkappa: 0 @@ -106,10 +106,10 @@ trajectory_point { } trajectory_point { path_point { - 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y: 4141425.2023720164 - theta: -1.798769187355052 - kappa: -0.010813232579462076 + x: 587713.164790204 + y: 4141425.2013258236 + theta: -1.7979880536765485 + kappa: -0.0099676375853107388 s: 1.2422093885808887 dkappa: 0 ddkappa: 0 @@ -162,10 +162,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587713.135079941 - y: 4141425.0782152042 - theta: -1.8004624286104458 - kappa: -0.010369909319384748 + x: 587713.13577916007 + y: 4141425.0771511537 + theta: -1.7996010993519236 + kappa: -0.00943751005734475 s: 1.3697279728747844 dkappa: 0 ddkappa: 0 @@ -176,10 +176,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587713.10585582093 - y: 4141424.9534746986 - theta: -1.8021636021164158 - kappa: -0.0099245018831918448 + x: 587713.10663172789 + y: 4141424.9523927066 + theta: -1.8012217038373843 + kappa: -0.0089048902641820239 s: 1.4978460546722192 dkappa: 0 ddkappa: 0 @@ -190,10 +190,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587713.07649495208 - y: 4141424.8281504931 - 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theta: -1.8089678794504069 - kappa: -0.00813394921372509 + x: 587712.98845142918 + y: 4141424.4475755631 + theta: -1.8076238603615573 + kappa: -0.0067758044193300072 s: 2.0163135851253724 dkappa: 0 ddkappa: 0 @@ -246,10 +246,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.95539991185 - y: 4141424.3215715908 - theta: -1.8096286104738535 - kappa: -0.0078399815092706944 + x: 587712.95682612632 + y: 4141424.3203309556 + theta: -1.808048610936638 + kappa: -0.00643926136884248 s: 2.1474293732904415 dkappa: 0 ddkappa: 0 @@ -260,10 +260,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.92321816261 - y: 4141424.1938481247 - theta: -1.8102923669664237 - kappa: -0.0075446694292842465 + x: 587712.92505619419 + y: 4141424.1925044316 + theta: -1.8084753049846292 + kappa: -0.0061011792368990576 s: 2.2791447812600123 dkappa: 0 ddkappa: 0 @@ -274,10 +274,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.890889901 - y: 4141424.065543178 - theta: -1.8109591485675163 - kappa: -0.0072480128954162462 + x: 587712.89314162475 + y: 4141424.0640959586 + theta: -1.8089039424759925 + kappa: -0.0057615579338028827 s: 2.4114598439796131 dkappa: 0 ddkappa: 0 @@ -288,10 +288,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.85841511772 - y: 4141423.9366567144 - theta: -1.8116289549135192 - kappa: -0.0069500118235998921 + x: 587712.86108240858 + y: 4141423.9351054989 + theta: -1.8093345233852394 + kappa: -0.0054203973633117561 s: 2.5443745989448074 dkappa: 0 ddkappa: 0 @@ -302,10 +302,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.82579380344 - y: 4141423.8071886958 - theta: -1.8123017856345838 - kappa: -0.0066506661254051892 + x: 587712.82887853635 + y: 4141423.8055330142 + theta: -1.8097670476889252 + kappa: -0.0050776974241883649 s: 2.6778890855972359 dkappa: 0 ddkappa: 0 @@ -316,10 +316,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.79302594787 - y: 4141423.6771390815 - theta: -1.8129776403514004 - kappa: -0.006349975709393039 + x: 587712.79652999807 + y: 4141423.6753784651 + theta: -1.8102015153636437 + kappa: -0.0047334580117504872 s: 2.8120033447206625 dkappa: 0 ddkappa: 0 @@ -330,10 +330,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.760111541 - y: 4141423.5465078321 - theta: -1.8136565186719704 - kappa: -0.0060479404824693344 + x: 587712.76403678406 + y: 4141423.5446418114 + theta: -1.8106379263840215 + kappa: -0.0043876790194211958 s: 2.9467174178370192 dkappa: 0 ddkappa: 0 @@ -344,10 +344,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.72705057275 - y: 4141423.4152949071 - theta: -1.8143384201883783 - kappa: -0.0057445603512390631 + x: 587712.731398884 + y: 4141423.413323014 + theta: -1.8110762807207121 + kappa: -0.0040403603402790755 s: 3.0820313466024496 dkappa: 0 ddkappa: 0 @@ -358,10 +358,10 @@ trajectory_point { } trajectory_point { path_point { - x: 587712.69384303293 - y: 4141423.2835002663 - 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s: 22.871381633701507 + x: 587253.55604927149 + y: 4140933.5988029912 + theta: -2.1002453018318996 + kappa: -0.027204014034921887 + s: 22.859368614610617 dkappa: 0 ddkappa: 0 } - v: 1.8030021919848487e-13 - a: -2.199999999999986 + v: 1.7807977314924246e-13 + a: -2.1999999999999877 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1706,10 @@ decision { reason_code: STOP_REASON_HEAD_VEHICLE reason: "stop by 867_1" stop_point { - x: 587252.67306152894 - y: 4140932.0432505282 + x: 587252.61570264155 + y: 4140932.0130700553 } - stop_heading: -2.1606567852988294 + stop_heading: -2.1530128306419134 change_lane_type: FORWARD } } @@ -1721,11 +1721,11 @@ decision { stop { distance_s: 0 stop_point { - x: 587252.647086928 - y: 4140932.0048838626 + x: 587252.59002176975 + y: 4140931.974506163 z: 0 } - stop_heading: -2.1606567852988294 + stop_heading: -2.1530128306419134 } } } @@ -1736,11 +1736,11 @@ decision { stop { distance_s: 0 stop_point { - x: 587252.67306152894 - y: 4140932.0432505282 + x: 587252.61570264155 + y: 4140932.0130700553 z: 0 } - stop_heading: -2.1606567852988294 + stop_heading: -2.1530128306419134 } } } diff --git 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 6e03207fa49418e1edc9c296d578ba1cc2ea2597..2cf8432bf0c4b30ce92468966381deb029ccb0cd 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: 5.4812203163364934 +total_path_length: 5.4825330214673489 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587610.56668757519 - y: 4140980.4473168189 + x: 587610.56668936065 + y: 4140980.4473239374 z: 0 theta: 1.3203319788735257 - kappa: -3.8194091399827733e-21 + kappa: 1.1231767215875684e-21 s: 0 dkappa: 0 ddkappa: 0 } v: 0 - a: 0.020492124620197134 + a: 0.020493861859475302 relative_time: 0 } trajectory_point { path_point { - 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s: 5.4812203163364934 + x: 587611.91893746215 + y: 4140985.76047404 + theta: 1.3234080174753833 + kappa: 0.00075031837072019351 + s: 5.4825330214673489 dkappa: 0 ddkappa: 0 } - v: 1.8651746813636366e-14 - a: -0.22444289389021896 + v: 1.9761969838257578e-14 + a: -0.22492853060466192 relative_time: 7.9999999999999885 } decision { @@ -1706,10 +1706,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 587612.85648960806 - y: 4140989.5447739228 + x: 587613.1119207443 + y: 4140989.4820492608 } - stop_heading: 1.3237802410645583 + stop_heading: 1.3246662317693159 change_lane_type: FORWARD } } @@ -1722,11 +1722,11 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: -0.5 stop_point { - x: 587612.85648960806 - y: 4140989.5447739228 + x: 587613.1119207443 + y: 4140989.4820492608 z: 0 } - stop_heading: 1.3237802410645583 + stop_heading: 1.3246662317693159 } } } 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 e3e363741c9d8c2be7f6fd56b0b5718a37153064..e43801fd10f9355588e0b99dbc77e6f3819da46c 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 @@ -1,1479 +1,1479 @@ header { module_name: "planning" } -total_path_length: 37.633763383614536 +total_path_length: 37.569441280979404 total_path_time: 6.3999999999999941 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - 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y: 4141430.5308050197 + x: 587713.75843722094 + y: 4141430.8727253294 z: 0 } - fence_heading: -1.5559615155486788 + fence_heading: -1.507389171347786 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt index 87c2a580bc81e4ad300b49a3774d5f518be13e24..c3c11bb4e6bd5616912428632e78397f1ec38ff1 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt @@ -1,1691 +1,1677 @@ header { module_name: "planning" } -total_path_length: 41.568912926743373 -total_path_time: 7.8999999999999888 +total_path_length: 41.188454986949679 +total_path_time: 7.7999999999999892 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587695.1098734776 - y: 4141446.907479458 + x: 587695.11043320131 + y: 4141446.9073348353 z: 0 theta: -0.2127658103191048 - 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y: 4141430.5308050197 + x: 587713.76550280943 + y: 4141430.7395815849 z: 0 } - fence_heading: -1.5559615155486788 + fence_heading: -1.5225697716043092 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt index 0024624371bdde84337e0d04c230f1d59e7882f4..4bdc53eb1be00b867fb14fad7c370465a3a1ad91 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt @@ -1,1702 +1,1702 @@ header { module_name: "planning" } -total_path_length: 9.2559047647173127 +total_path_length: 9.2480163445702779 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587258.38406384818 - y: 4140947.0749310674 + x: 587258.3842669283 + y: 4140947.0756130582 theta: -1.7938388115138242 - kappa: 0.001006073843503562 - s: 1.6633829730272609e-15 + kappa: 0.0010060738435035618 + s: 1.8110513089197866e-15 dkappa: 0 ddkappa: 0 } - 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v: 0.33774336784670017 - a: -0.49625575630876467 + v: 0.33706023697365006 + a: -0.49532562093731158 relative_time: 6.7999999999999927 } trajectory_point { path_point { - x: 587255.73248531623 - y: 4140938.3305284171 - theta: -1.970360502961352 - kappa: -0.028618632604034897 - s: 9.1517885651283049 + x: 587255.79916004022 + y: 4140938.3177157147 + theta: -1.956897436670556 + kappa: -0.027730354121186775 + s: 9.1441183034727285 dkappa: 0 ddkappa: 0 } - v: 0.2889833997647161 - a: -0.47821966281023903 + v: 0.28839269515249638 + a: -0.47730312181975204 relative_time: 6.8999999999999924 } trajectory_point { path_point { - x: 587255.72224241833 - y: 4140938.306041575 - theta: -1.9712068050818012 - kappa: -0.028632895823406525 - s: 9.1783314058952978 + x: 587255.7892209884 + y: 4140938.2931627892 + theta: -1.9576950158536828 + kappa: -0.02775002061444766 + s: 9.1706066196299716 dkappa: 0 ddkappa: 0 } - v: 0.24224845784696375 - a: -0.45571289244238283 + v: 0.24174825263587796 + a: -0.45482142191684855 relative_time: 6.999999999999992 } trajectory_point { path_point { - 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s: 9.2317806723307747 + x: 587255.76920748083 + y: 4140938.2437224435 + theta: -1.9593010147441994 + kappa: -0.027789621526406551 + s: 9.2239441141272049 dkappa: 0 ddkappa: 0 } - v: 0.11891850943888412 - a: -0.35882808521828147 + v: 0.11866599927714407 + a: -0.35808834171040421 relative_time: 7.2999999999999909 } trajectory_point { path_point { - x: 587255.69769289263 - y: 4140938.2473530704 - theta: -1.9732351198296862 - kappa: -0.028667080999701774 - s: 9.2419475971179619 + x: 587255.76540074055 + y: 4140938.2343184659 + theta: -1.9596064851217352 + kappa: -0.027797153958560458 + s: 9.2340893617663742 dkappa: 0 ddkappa: 0 } - v: 0.085135414283072766 - a: -0.31589817246855328 + v: 0.084953071131860569 + a: -0.31523706288045455 relative_time: 7.3999999999999906 } trajectory_point { path_point { - x: 587255.694986677 - y: 4140938.240883546 - theta: -1.9734587062967182 - kappa: -0.028670849400623324 - s: 9.2489603242590661 + x: 587255.762775055 + y: 4140938.2278321069 + theta: -1.9598171813372858 + kappa: -0.027802349426743145 + s: 9.241087010100637 dkappa: 0 ddkappa: 0 } - v: 0.055930238089227174 - a: -0.26722736539721942 + v: 0.055809439656992761 + a: -0.26666019537232555 relative_time: 7.49999999999999 } trajectory_point { path_point { - x: 587255.69330976566 - y: 4140938.236874694 - theta: -1.973597251554716 - kappa: -0.028673184497184055 - s: 9.2533057735277087 + x: 587255.761148073 + y: 4140938.223812894 + theta: -1.9599477369467753 + kappa: -0.02780556875106939 + s: 9.2454230388697241 dkappa: 0 ddkappa: 0 } - v: 0.031889772464031567 - a: -0.21256162051382452 + v: 0.0318203275992869 + a: -0.21210446160745011 relative_time: 7.59999999999999 } trajectory_point { path_point { - x: 587255.69245112117 - y: 4140938.2348220041 - theta: -1.9736681920110946 - kappa: -0.028674380158256067 - s: 9.25553081407563 + x: 587255.760315009 + y: 4140938.2217549356 + theta: -1.9600145852472333 + kappa: -0.027807217142294834 + s: 9.2476432164759323 dkappa: 0 ddkappa: 0 } - v: 0.013626213363213463 - a: -0.15164689432791428 + v: 0.013596285463346928 + a: -0.15131658400726075 relative_time: 7.6999999999999895 } trajectory_point { path_point { - x: 587255.69217559171 - y: 4140938.2341633188 - theta: -1.9736909559933613 - kappa: -0.028674763832610466 - s: 9.2562448048676025 + x: 587255.76004769339 + y: 4140938.2210945725 + theta: -1.9600360356850728 + kappa: -0.0278077460822986 + s: 9.2483556327599157 dkappa: 0 ddkappa: 0 } - v: 0.0017771610915476984 - a: -0.084229143349033309 + v: 0.0017731915116309361 + a: -0.08404328499319115 relative_time: 7.7999999999999892 } trajectory_point { path_point { - x: 587255.69222293 - y: 4140938.2342764866 - theta: -1.9736870449464283 - kappa: -0.028674697914060597 - s: 9.2561221351163177 + x: 587255.76009362121 + y: 4140938.2212080304 + theta: -1.9600323502635786 + kappa: -0.027807655204565865 + s: 9.2482332317764584 dkappa: 0 ddkappa: 0 } v: 0 - a: -0.010054324086726591 + a: -0.010031286986673825 relative_time: 7.8999999999999888 } trajectory_point { path_point { - x: 587255.69230681343 - y: 4140938.23447702 - theta: -1.9736801145832454 - kappa: -0.028674581106605319 - s: 9.2559047647173127 + x: 587255.76017500251 + y: 4140938.2214090703 + theta: -1.9600258199170144 + kappa: -0.02780749417467052 + s: 9.2480163445702779 dkappa: 0 ddkappa: 0 } - v: 5.6600230498775059e-15 - a: 0.07113160694946094 + v: 5.64735903074707e-15 + a: 0.070972687590858452 relative_time: 7.9999999999999885 } decision { @@ -1705,10 +1705,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 867_0" stop_point { - x: 587254.26162691938 - y: 4140934.6074540294 + x: 587254.20840926236 + y: 4140934.649888759 } - stop_heading: -2.0813787429142936 + stop_heading: -2.0644639545164023 change_lane_type: FORWARD } } @@ -1721,10 +1721,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -6 stop_point { - x: 587254.26162691938 - y: 4140934.6074540294 + x: 587254.20840926236 + y: 4140934.649888759 } - stop_heading: -2.0813787429142936 + stop_heading: -2.0644639545164023 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt index 0a689aa27e27915d5e37149312e5071fc20cb6e6..ac57fad96f4f00a3842474fa78abab509394db4c 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt @@ -7,11 +7,11 @@ is_replan: true gear: GEAR_DRIVE trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -22,11 +22,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -37,11 +37,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -52,11 +52,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -67,11 +67,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -82,11 +82,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -97,11 +97,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -112,11 +112,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -127,11 +127,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -142,11 +142,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -157,11 +157,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -172,11 +172,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -187,11 +187,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -202,11 +202,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -217,11 +217,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -232,11 +232,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -247,11 +247,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -262,11 +262,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -277,11 +277,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -292,11 +292,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -307,11 +307,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -322,11 +322,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -337,11 +337,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -352,11 +352,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -367,11 +367,11 @@ trajectory_point { } trajectory_point { path_point { - 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kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1087,11 +1087,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1102,11 +1102,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1117,11 +1117,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1132,11 +1132,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1147,11 +1147,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1162,11 +1162,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1177,11 +1177,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1192,11 +1192,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1207,11 +1207,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1222,11 +1222,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1237,11 +1237,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1252,11 +1252,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1267,11 +1267,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1282,11 +1282,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1297,11 +1297,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1312,11 +1312,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1327,11 +1327,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1342,11 +1342,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1357,11 +1357,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1372,11 +1372,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1387,11 +1387,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1402,11 +1402,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1417,11 +1417,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1432,11 +1432,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1447,11 +1447,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1462,11 +1462,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1477,11 +1477,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1492,11 +1492,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1507,11 +1507,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1522,11 +1522,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1537,11 +1537,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1552,11 +1552,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1567,11 +1567,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1582,11 +1582,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1597,11 +1597,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1612,11 +1612,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1627,11 +1627,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1642,11 +1642,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1657,11 +1657,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1672,11 +1672,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1687,11 +1687,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1702,11 +1702,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1717,11 +1717,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1732,11 +1732,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1747,11 +1747,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1762,11 +1762,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1777,11 +1777,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1792,11 +1792,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1807,11 +1807,11 @@ trajectory_point { } trajectory_point { path_point { - x: 587045.66208072554 - y: 4141549.0618822104 + x: 587045.66213269264 + y: 4141549.0620066128 z: 0 theta: 1.2103929796890078 - kappa: -0.011166695847059906 + kappa: -0.011166695847059907 s: 0 dkappa: 0 ddkappa: 0 @@ -1826,10 +1826,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 401_0" stop_point { - x: 587047.77272513881 - y: 4141552.3894198635 + x: 587047.77166315832 + y: 4141552.3903880976 } - stop_heading: 1.1458841317838051 + stop_heading: 1.1460108572195813 change_lane_type: FORWARD } } @@ -1842,10 +1842,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -6 stop_point { - x: 587047.77272513881 - y: 4141552.3894198635 + x: 587047.77166315832 + y: 4141552.3903880976 } - stop_heading: 1.1458841317838051 + stop_heading: 1.1460108572195813 } } } @@ -1856,11 +1856,11 @@ decision { stop { distance_s: -3 stop_point { - x: 587049.89961283 - y: 4141556.5205516969 + x: 587049.90047269524 + y: 4141556.52061511 z: 0 } - stop_heading: 1.0431651617390183 + stop_heading: 1.0315900322639875 } } }