tools: added more planning metrics.

modules/tools/record_analyzer/metrics/curvature.py

+#!/usr/bin/env python
+
+###############################################################################
+# Copyright 2019 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+import numpy as np
+
+class Curvature:
+    def __init__(self):
+        self.curvature_list = []
+        self.curvature_derivative_list = []
+
+    def put(self, adc_trajectory):
+        init_point = adc_trajectory.debug.planning_data.init_point
+        self.curvature.append(abs(init_point.path_point.kappa))
+        self.curvature_derivative.append(abs(init_point.path_point.dkappa))
+
+    def get_curvature(self):
+        curvature = {}
+        if len(self.curvature_list) == 0:
+            curvature["max"] = 0
+            curvature["avg"] = 0
+            return curvature
+
+        curvature["max"] = max(self.curvature_list, key=abs)
+        curvature["avg"] = np.average(np.absolute(self.curvature_list))
+
+        return curvature
+
+    def get_curvature_derivative(self):
+        curvature_derivative = {}
+        if len(self.curvature_derivative_list) == 0:
+            curvature_derivative["max"] = 0
+            curvature_derivative["avg"] = 0
+
+        curvature_derivative["max"] = max(self.curvature_derivative_list, key=abs)
+        curvature_derivative["avg"] = np.average(np.absolute(self.curvature_derivative_list))
+
+        return curvature_derivative

modules/tools/record_analyzer/metrics/frame_count.py

+#!/usr/bin/env python
+
+###############################################################################
+# Copyright 2019 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+class FrameCount:
+    def __init__(self):
+        self.count = 0
+
+    def put(self, adc_trajectory):
+        self.count += 1
+
+    def get(self):
+        frame_count = {}
+        frame_count["total"] = self.count
+        return frame_count

modules/tools/record_analyzer/metrics/lon_acceleration.py

+#!/usr/bin/env python
+
+###############################################################################
+# Copyright 2019 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+class LonAcceleration:
+    def __init__(self):
+        self.last_velocity = None
+        self.last_timestamp = None
+        self.last_acceleration = None
+        self.acceleration = []
+        self.deceleration = []
+        self.acc_jerk = []
+        self.dec_jerk = []
+
+    def put(self, adc_trajectory):
+        init_point = adc_trajectory.debug.planning_data.init_point
+        current_timestamp = adc_trajectory.header.timestamp_sec + init_point.relative_time
+        current_velocity = init_point.v
+
+        if self.last_timestamp is not None and self.last_velocity is not None:
+            duration = current_timestamp - self.last_timestamp
+            if duration > 0.03:
+                acc = (current_velocity - self.last_velocity) / duration
+                if acc > 0:
+                    self.acceleration.append(acc)
+                elif acc < 0:
+                    self.deceleration.append(acc)
+
+        self.last_timestamp = current_timestamp
+        self.last_velocity = current_velocity