From 78344bbf5adbf116670c1b563cb833390edec89b Mon Sep 17 00:00:00 2001 From: Zhang Liangliang Date: Sat, 2 Sep 2017 15:17:21 -0700 Subject: [PATCH] Planning: fixed broken test for obstacle stop. --- modules/planning/conf/planning_config.pb.txt | 6 +- .../reference_line/reference_line_smoother.cc | 2 +- .../reference_line_smoother_test.cc | 2 +- modules/planning/tasks/speed_optimizer.cc | 10 +- .../garage_test/result_follow_0.pb.txt | 1282 +++++----- .../garage_test/result_stop_dest_0.pb.txt | 2260 ++++++++--------- .../garage_test/result_stop_obstacle_0.pb.txt | 2256 ++++++++-------- .../result_cruise_0.pb.txt | 2242 ++++++++-------- .../result_cruise_0.pb.txt | 2234 ++++++++-------- 9 files changed, 5147 insertions(+), 5147 deletions(-) diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt index 4a21805177..4233a2750b 100644 --- a/modules/planning/conf/planning_config.pb.txt +++ b/modules/planning/conf/planning_config.pb.txt @@ -127,13 +127,13 @@ em_planner_config { reference_line_smoother_config { num_spline: 6 - spline_order: 7 - num_evaluated_points: 30 + spline_order: 6 + num_evaluated_points: 25 boundary_bound: 0.2 derivative_bound: 1.0 second_derivative_bound: 1.0 third_derivative_bound: 1.0 - ref_line_weight: 1.0 + ref_line_weight: 0.0 derivative_weight: 0.0 second_derivative_weight: 0.0 third_derivative_weight: 100.0 diff --git a/modules/planning/reference_line/reference_line_smoother.cc b/modules/planning/reference_line/reference_line_smoother.cc index 30b146d674..5e6d1a15ce 100644 --- a/modules/planning/reference_line/reference_line_smoother.cc +++ b/modules/planning/reference_line/reference_line_smoother.cc @@ -172,7 +172,7 @@ bool ReferenceLineSmoother::ApplyConstraint( std::vector lateral_bound; std::vector xy_points; for (std::uint32_t i = 0; i < path_points.size(); ++i) { - const double kBoundCoeff = 0.2; + const double kBoundCoeff = 0.5; headings.push_back(path_points[i].theta()); longitidinal_bound.push_back(kBoundCoeff * smoother_config_.boundary_bound()); diff --git a/modules/planning/reference_line/reference_line_smoother_test.cc b/modules/planning/reference_line/reference_line_smoother_test.cc index 0580b86349..0b9be51b92 100644 --- a/modules/planning/reference_line/reference_line_smoother_test.cc +++ b/modules/planning/reference_line/reference_line_smoother_test.cc @@ -74,7 +74,7 @@ TEST_F(ReferenceLineSmootherTest, smooth) { ReferenceLine smoothed_reference_line; EXPECT_FLOAT_EQ(153.87421, reference_line_->Length()); EXPECT_TRUE(smoother_.Smooth(*reference_line_, &smoothed_reference_line)); - EXPECT_FLOAT_EQ(153.6006, smoothed_reference_line.Length()); + EXPECT_FLOAT_EQ(153.52477, smoothed_reference_line.Length()); } } // namespace planning diff --git a/modules/planning/tasks/speed_optimizer.cc b/modules/planning/tasks/speed_optimizer.cc index 3e352de109..d93eaaa123 100644 --- a/modules/planning/tasks/speed_optimizer.cc +++ b/modules/planning/tasks/speed_optimizer.cc @@ -58,10 +58,10 @@ void SpeedOptimizer::RecordSTGraphDebug( return; } - //auto debug = frame_->MutableADCTrajectory()->mutable_debug(); - //auto st_graph_debug = debug->mutable_planning_data()->add_st_graph(); + // auto debug = frame_->MutableADCTrajectory()->mutable_debug(); + // auto st_graph_debug = debug->mutable_planning_data()->add_st_graph(); st_graph_debug->set_name(Name()); - for (const auto& boundary : boundaries) { + for (const auto boundary : boundaries) { auto boundary_debug = st_graph_debug->add_boundary(); boundary_debug->set_name(boundary.id()); switch (boundary.boundary_type()) { @@ -92,14 +92,14 @@ void SpeedOptimizer::RecordSTGraphDebug( break; } - for (const auto& point : boundary.points()) { + for (const auto point : boundary.points()) { auto point_debug = boundary_debug->add_point(); point_debug->set_t(point.x()); point_debug->set_s(point.y()); } } - for (const auto& point : speed_limits.speed_limit_points()) { + for (const auto point : speed_limits.speed_limit_points()) { common::SpeedPoint speed_point; speed_point.set_s(point.first); speed_point.set_v(point.second); 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 926398ebbf..2548c87e81 100644 --- a/modules/planning/testdata/garage_test/result_follow_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_follow_0.pb.txt @@ -8,7 +8,7 @@ trajectory_point { x: 586344.8230049999 y: 4140700.15992 theta: 1.3255010179499997 - kappa: -0.026050217221752485 + kappa: -0.026050217221752492 s: 4.01425854362758e-17 dkappa: 0 ddkappa: 0 @@ -19,10 +19,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586344.89321598946 - y: 4140700.4311062866 - theta: 1.3194733910343559 - kappa: -0.022534937064770791 + x: 586344.89326040144 + y: 4140700.4310947843 + theta: 1.3192228148856207 + kappa: -0.023196351244770694 s: 0.28012780139567195 dkappa: 0 ddkappa: 0 @@ -33,10 +33,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586344.96345650614 - y: 4140700.7024066206 - theta: 1.3134431198379792 - kappa: -0.019018178560168922 + x: 586344.96354534884 + y: 4140700.7023836114 + theta: 1.3129418498690026 + kappa: -0.020341285077253017 s: 0.56037341026330767 dkappa: 0 ddkappa: 0 @@ -47,10 +47,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.03532985353 - y: 4140700.9731887667 - theta: 1.3085281487520584 - kappa: -0.015846797625648425 + x: 586345.035646023 + y: 4140700.97310426 + theta: 1.3076023952964804 + kappa: -0.017704689741086493 s: 0.84053704408195573 dkappa: 0 ddkappa: 0 @@ -61,10 +61,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.10877760756 - y: 4140701.2432710882 - theta: 1.3047251565056623 - kappa: -0.013020964261798315 + x: 586345.1094469371 + y: 4140701.2430902934 + theta: 1.3031737958313649 + kappa: -0.015280483027483065 s: 1.1204281533483078 dkappa: 0 ddkappa: 0 @@ -75,10 +75,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.18210626673 - y: 4140701.5129154739 - theta: 1.3009283582306459 - kappa: -0.010199712962560082 + x: 586345.18315902841 + y: 4140701.5126299649 + theta: 1.2987720263701164 + kappa: -0.012865285015488382 s: 1.3998654215767008 dkappa: 0 ddkappa: 0 @@ -89,10 +89,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.25721145712 - y: 4140701.7814205354 - theta: 1.298887661866643 - kappa: -0.007995390928782712 + x: 586345.25910408725 + y: 4140701.7808986986 + theta: 1.295904307459915 + kappa: -0.010850285657384611 s: 1.6786767652991148 dkappa: 0 ddkappa: 0 @@ -103,10 +103,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.33210772322 - y: 4140702.049165 - theta: 1.2968559335510457 - kappa: -0.0057984228697202872 + x: 586345.33483429276 + y: 4140702.0484084832 + theta: 1.2930446901733621 + kappa: -0.0088409868601315063 s: 1.956699334065173 dkappa: 0 ddkappa: 0 @@ -117,10 +117,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.40717854048 - y: 4140702.3158812951 - theta: 1.2954759902464505 - kappa: -0.0038633785725860877 + x: 586345.41104512988 + y: 4140702.314800573 + theta: 1.2908290860651939 + kappa: -0.0070244029925786832 s: 2.2337795104421452 dkappa: 0 ddkappa: 0 @@ -131,10 +131,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.48241684458 - y: 4140702.581421413 - theta: 1.294796793940362 - kappa: -0.0022103062767795567 + x: 586345.48768975679 + y: 4140702.5799381938 + theta: 1.2892524927029549 + kappa: -0.0053996832474190338 s: 2.509772910014942 dkappa: 0 ddkappa: 0 @@ -145,10 +145,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.55732204 - y: 4140702.8457858833 - theta: 1.2941206048275169 - kappa: -0.000564552763453651 + x: 586345.56399504875 + y: 4140702.8439019485 + theta: 1.2876828813477734 + kappa: -0.0037821567571684183 s: 2.7845443813861195 dkappa: 0 ddkappa: 0 @@ -159,10 +159,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.63195346273 - y: 4140703.1088269991 - theta: 1.2943757873834836 - kappa: 0.00065354093820844147 + x: 586345.64060202334 + y: 4140703.1063744836 + theta: 1.2870924961016321 + kappa: -0.0025046349725624372 s: 3.0579680061758792 dkappa: 0 ddkappa: 0 @@ -173,10 +173,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.70619116852 - y: 4140703.3704574853 - theta: 1.2946893455616642 - kappa: 0.0018380997788270249 + x: 586345.71682326857 + y: 4140703.3674339978 + theta: 1.2865406258196912 + kappa: -0.0012460396644940882 s: 3.3299270990220635 dkappa: 0 ddkappa: 0 @@ -187,10 +187,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.77983508084 - y: 4140703.6306222631 - theta: 1.2952485497269175 - kappa: 0.0028653130669447969 + x: 586345.79264312575 + y: 4140703.6269730804 + theta: 1.2862911679643658 + kappa: -0.0001223218956819817 s: 3.60031420758016 dkappa: 0 ddkappa: 0 @@ -201,10 +201,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.85273918742 - y: 4140703.8892605552 - theta: 1.2962324029352472 - kappa: 0.00362581917066927 + x: 586345.8680544158 + y: 4140703.8848915026 + theta: 1.2864996965415956 + kappa: 0.00079980459903608472 s: 3.8690311125233023 dkappa: 0 ddkappa: 0 @@ -215,10 +215,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.92516601784 - y: 4140704.146205639 - theta: 1.2972098151054545 - kappa: 0.004381346522963004 + x: 586345.94297201617 + y: 4140704.141121428 + theta: 1.2867068599578964 + kappa: 0.0017158942735597878 s: 4.1359888275422643 dkappa: 0 ddkappa: 0 @@ -229,10 +229,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586345.99648994685 - y: 4140704.4015499735 - theta: 1.2984803083863858 - kappa: 0.0048695166565879151 + x: 586346.01711558981 + y: 4140704.3956615496 + theta: 1.287332677312226 + kappa: 0.0024039191478112273 s: 4.4011075993454671 dkappa: 0 ddkappa: 0 @@ -243,10 +243,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.06710070733 - y: 4140704.6551111313 - theta: 1.2998406701048413 - kappa: 0.0052675924250887227 + x: 586346.09065438737 + y: 4140704.6483890414 + theta: 1.2880692402564211 + kappa: 0.0030261486020448812 s: 4.6643169076589732 dkappa: 0 ddkappa: 0 @@ -257,10 +257,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.13709661888 - y: 4140704.9067975893 - theta: 1.3012060455473735 - kappa: 0.0056376684835157086 + x: 586346.16356647538 + y: 4140704.8992463057 + theta: 1.2888428785884554 + kappa: 0.0036138114842999519 s: 4.9255554652264912 dkappa: 0 ddkappa: 0 @@ -271,10 +271,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.20566138648 - y: 4140705.156780947 - theta: 1.3027177283996922 - kappa: 0.0057466810027947722 + x: 586346.23537655431 + y: 4140705.1483168155 + theta: 1.289911331288246 + kappa: 0.0039856958861458434 s: 5.1847712178093719 dkappa: 0 ddkappa: 0 @@ -285,10 +285,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.27367977833 - y: 4140705.4047722486 - theta: 1.3042173668362016 - kappa: 0.0058548248282760161 + x: 586346.30661439651 + y: 4140705.3954025442 + theta: 1.2909712703049778 + kappa: 0.0043546168331929126 s: 5.4419213441866114 dkappa: 0 ddkappa: 0 @@ -299,10 +299,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.34077115532 - y: 4140705.650840248 - theta: 1.3057026971522256 - kappa: 0.0058796947507855756 + x: 586346.3769562766 + y: 4140705.6405613306 + theta: 1.2920965450838335 + kappa: 0.0046385920996275358 s: 5.69697225615485 dkappa: 0 ddkappa: 0 @@ -313,10 +313,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.40667150111 - y: 4140705.8950315351 - theta: 1.3071721550151112 - kappa: 0.0057641950520656952 + x: 586346.44625530613 + y: 4140705.8838099386 + theta: 1.2933200365764927 + kappa: 0.0048010676947234914 s: 5.9498995985283694 dkappa: 0 ddkappa: 0 @@ -327,10 +327,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.47201460984 - y: 4140706.1371580013 - theta: 1.3086291876012168 - kappa: 0.0056496719905568763 + x: 586346.51496836008 + y: 4140706.125001695 + theta: 1.2945331824461412 + kappa: 0.004962169435914902 s: 6.2006882491390991 dkappa: 0 ddkappa: 0 @@ -341,10 +341,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.5362482866 - y: 4140706.377361414 - theta: 1.3099904399452043 - kappa: 0.0054377040754579626 + x: 586346.5825704739 + y: 4140706.3642790453 + theta: 1.2957691537535903 + kappa: 0.0050189588772552507 s: 6.4493323188366087 dkappa: 0 ddkappa: 0 @@ -355,10 +355,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.59954477625 - y: 4140706.6155991126 - theta: 1.3112818667960715 - kappa: 0.0051589207790949908 + x: 586346.64927931363 + y: 4140706.6015838645 + theta: 1.2970142201325741 + kappa: 0.0050140693547671769 s: 6.6958351514881143 dkappa: 0 ddkappa: 0 @@ -369,10 +369,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.6622946728 - y: 4140706.8517795233 - theta: 1.3125621408908821 - kappa: 0.0048825448988666616 + x: 586346.71541209309 + y: 4140706.8368394519 + theta: 1.2982485340284524 + kappa: 0.0050092220554520187 s: 6.9402093239784755 dkappa: 0 ddkappa: 0 @@ -383,10 +383,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.72392483219 - y: 4140707.0860764547 - theta: 1.313657904364868 - kappa: 0.004522891551469837 + x: 586346.780343414 + y: 4140707.0702430839 + theta: 1.2994331444146312 + kappa: 0.0049049135330504912 s: 7.1824766462101941 dkappa: 0 ddkappa: 0 @@ -397,10 +397,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.78482361173 - y: 4140707.3184195254 - theta: 1.3146833387771695 - kappa: 0.0041362267253906718 + x: 586346.84453826712 + y: 4140707.30169715 + theta: 1.300596462092301 + kappa: 0.004773109023438608 s: 7.4226681611034193 dkappa: 0 ddkappa: 0 @@ -411,10 +411,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.84520629724 - y: 4140707.5487935771 - theta: 1.3157000824185829 - kappa: 0.0037528387361114284 + x: 586346.90818909346 + y: 4140707.5311897309 + theta: 1.3017499200953189 + kappa: 0.0046424215067321093 s: 7.6608241445959422 dkappa: 0 ddkappa: 0 @@ -425,10 +425,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.90460594918 - y: 4140707.7773715234 - theta: 1.3164692402902671 - kappa: 0.0033159813194249418 + x: 586346.970683556 + y: 4140707.7589409584 + theta: 1.3027861295067584 + kappa: 0.0044324085060288721 s: 7.8969941056431958 dkappa: 0 ddkappa: 0 @@ -439,10 +439,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586346.96341528068 - y: 4140708.0041116737 - theta: 1.3171794699511938 - kappa: 0.0028702107474145224 + x: 586347.03256345843 + y: 4140707.98486243 + theta: 1.3037958928737043 + kappa: 0.0042106670807626643 s: 8.13123678621826 dkappa: 0 ddkappa: 0 @@ -453,10 +453,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.021757812 - y: 4140708.2290520705 - theta: 1.317884061919131 - kappa: 0.00242797848732053 + x: 586347.0939521878 + y: 4140708.2089906451 + theta: 1.3047976404836563 + kappa: 0.0039906857320395226 s: 8.363620161311859 dkappa: 0 ddkappa: 0 @@ -467,10 +467,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.07934951247 - y: 4140708.4523458784 - theta: 1.3183191409417434 - kappa: 0.0019674308412336622 + x: 586347.15433605341 + y: 4140708.4315455575 + theta: 1.3056397685681038 + kappa: 0.0037186039286114447 s: 8.5942214389323617 dkappa: 0 ddkappa: 0 @@ -481,10 +481,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.13645420689 - y: 4140708.6740141828 - theta: 1.3186957267707164 - kappa: 0.0015057251515064787 + x: 586347.21419094584 + y: 4140708.6524871225 + theta: 1.3064515360215405 + kappa: 0.0034399666722824871 s: 8.8231270601057723 dkappa: 0 ddkappa: 0 @@ -495,10 +495,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.19315975637 - y: 4140708.8941330919 - theta: 1.3190696803446564 - kappa: 0.0010472466476183306 + x: 586347.27362747036 + y: 4140708.8718843716 + theta: 1.3072576291059268 + kappa: 0.0031632770077373428 s: 9.0504326988757544 dkappa: 0 ddkappa: 0 @@ -509,10 +509,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.24938237749 - y: 4140709.1128324824 - theta: 1.319199632991459 - kappa: 0.00060097461290051365 + x: 586347.332297466 + y: 4140709.0899398783 + theta: 1.3078946462879786 + kappa: 0.0028635156459558106 s: 9.2762432623035984 dkappa: 0 ddkappa: 0 @@ -523,10 +523,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.30522737931 - y: 4140709.3302031197 - theta: 1.3192545579892669 - kappa: 0.00016025637285071949 + x: 586347.39051411673 + y: 4140709.3066873797 + theta: 1.3084865401006058 + kappa: 0.0025593212996442003 s: 9.5006728904682536 dkappa: 0 ddkappa: 0 @@ -537,10 +537,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.36075946083 - y: 4140709.5463557481 - theta: 1.3193091752219408 - kappa: -0.00027799235998938934 + x: 586347.44840455812 + y: 4140709.5222203652 + theta: 1.309075117214654 + kappa: 0.0022568314666998545 s: 9.7238449564663032 dkappa: 0 ddkappa: 0 @@ -551,10 +551,10 @@ trajectory_point { } trajectory_point { path_point { - x: 586347.41605221061 - y: 4140709.7614083691 - theta: 1.3191774647255703 - 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v: 0.85384766290894754 - a: -0.024021536009341593 + v: 0.85384839969481718 + a: -0.024021531251947059 relative_time: 7.89999999999998 } trajectory_point { path_point { - x: 586366.614428392 - y: 4140781.150553498 - theta: 1.3081872144446953 - kappa: 0.0017245215289472668 - s: 20.122069767471697 + x: 586366.66172975942 + y: 4140781.137788251 + theta: 1.3093441725428157 + kappa: 0.0039623626760852786 + s: 20.1220728666558 dkappa: 0 ddkappa: 0 } - v: 0.8529457506388729 - a: -0.012043908096398492 + v: 0.85294648760332237 + a: -0.012043905712374459 relative_time: 7.94999999999998 } trajectory_point { path_point { - x: 586366.62549623335 - y: 4140781.1917291884 - theta: 1.3082619905736301 - kappa: 0.0017957059710055358 - s: 20.164707011509375 + x: 586366.67274849431 + y: 4140781.1789771477 + theta: 1.3095145740843532 + kappa: 0.0040398365588675007 + s: 20.164710147543687 dkappa: 0 ddkappa: 0 } - v: 0.85264437676903193 - a: 4.1078251911130792e-15 + v: 0.85264511379312635 + a: 3.219646771412954e-15 relative_time: 7.99999999999998 } decision { @@ -2263,10 +2263,10 @@ decision { reason_code: STOP_REASON_DESTINATION reason: "stop by DEST" stop_point { - x: 586367.75164318818 - y: 4140785.4550120709 + x: 586367.76600381883 + y: 4140785.4560286687 } - stop_heading: 1.3145051415984907 + stop_heading: 1.3314440950017863 } } object_decision { @@ -2286,10 +2286,10 @@ decision { reason_code: STOP_REASON_DESTINATION distance_s: 0 stop_point { - x: 586367.75164318818 - y: 4140785.4550120709 + x: 586367.76600381883 + y: 4140785.4560286687 } - stop_heading: 1.3145051415984907 + stop_heading: 1.3314440950017863 } } } 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 ee792774d7..d7c5536be6 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 @@ -9,7 +9,7 @@ trajectory_point { y: 4140690.05199 z: 0 theta: 1.6602776953500005 - kappa: 2.9137807886363263e-17 + kappa: 5.4464451464050638e-18 dkappa: 0 ddkappa: 0 } @@ -19,2242 +19,2242 @@ trajectory_point { } trajectory_point { path_point { - 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v: 0.01728780751894967 - a: 0.0011271639543263025 + v: 1.9488516900178403e-08 + a: 1.1326645263120504e-08 relative_time: 7.89999999999998 } trajectory_point { path_point { - x: 586344.38925585058 - y: 4140697.2239550604 - theta: 1.3063941282465057 - kappa: -0.041702174463849606 - s: 7.2359495659197819 + x: 586344.01196072251 + y: 4140694.752262664 + theta: 1.4073512595763649 + kappa: -0.0520473002753212 + s: 4.7173770738803338 dkappa: 0 ddkappa: 0 } - v: 0.01733041239673707 - a: 0.00057366886216803862 + v: 1.9922984834447421e-08 + a: 5.9548847386199617e-09 relative_time: 7.94999999999998 } trajectory_point { path_point { - x: 586344.38948130608 - y: 4140697.2247922346 - theta: 1.3063574390222479 - kappa: -0.041691618430490143 - s: 7.2368165666984385 + x: 586344.01196072274 + y: 4140694.7522626654 + theta: 1.4073512595241808 + kappa: -0.052047300265702354 + s: 4.7173770748815063 dkappa: 0 ddkappa: 0 } - v: 0.017344838175666316 - a: 2.8883145875013838e-16 + v: 2.0074286637138464e-08 + a: 2.541098841762901e-21 relative_time: 7.99999999999998 } decision { @@ -2263,10 +2263,10 @@ decision { reason_code: STOP_REASON_OBSTACLE reason: "stop by 1_0" stop_point { - x: 586346.35873687046 - y: 4140703.8363721515 + x: 586344.20760797116 + y: 4140699.2419882617 } - stop_heading: 1.2622196382208788 + stop_heading: 1.2737388497156017 } } object_decision { @@ -2276,12 +2276,12 @@ decision { object_decision { stop { reason_code: STOP_REASON_OBSTACLE - distance_s: -5 + distance_s: -10 stop_point { - x: 586346.35873687046 - y: 4140703.8363721515 + x: 586344.20760797116 + y: 4140699.2419882617 } - stop_heading: 1.2622196382208788 + stop_heading: 1.2737388497156017 } } } diff --git a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt index ac6f8d39d6..9171d385fa 100644 --- a/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt +++ b/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt @@ -9,2252 +9,2252 @@ trajectory_point { y: 4140719.15699 z: 0 theta: 2.35595493774 - kappa: 1.3619770782506484e-18 + kappa: -1.5107223223638668e-18 dkappa: 0 ddkappa: 0 } v: 5.4222221374511719 - 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