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提交 ae5d3471 编写于 作者: Z Zhang Liangliang 提交者： Jiangtao Hu
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Planning: changed acceleration and jerk to 0 when speed is very small to keep consistency.

上级 6552f0e9
隐藏空白更改
内联 并排
Showing with 198 addition and 196 deletion
modules/planning/common/planning_gflags.cc
浏览文件 @ ae5d3471
......@@ -151,5 +151,5 @@ DEFINE_double(slowdown_speed_threshold, 8.0,
"this threshold. unit : m/s.");
DEFINE_double(slowdown_profile_deceleration, -1.0,
"The deceleration to generate slowdown profile. unit: m/s^2.");
DEFINE_double(qp_st_low_velocity_threshold, 0.05,
DEFINE_double(qp_st_low_velocity_threshold, 0.02,
"The low velocity threshold for control usage. unit: m/s.");
modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc
浏览文件 @ ae5d3471
......@@ -116,11 +116,13 @@ Status QpSplineStGraph::Search(const StGraphData& st_graph_data,
while (time < qp_spline_st_speed_config_.total_time() + t_output_resolution) {
double s = spline(time);
double v = spline.Derivative(time);
double a = spline.SecondOrderDerivative(time);
double da = spline.ThirdOrderDerivative(time);
if (v < FLAGS_qp_st_low_velocity_threshold) {
v = 0.0;
a = 0.0;
da = 0.0;
}
double a = spline.SecondOrderDerivative(time);
double da = spline.ThirdOrderDerivative(time);
speed_data->AppendSpeedPoint(s, time, v, a, da);
time += t_output_resolution;
}
......
modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt
浏览文件 @ ae5d3471
......@@ -1385,7 +1385,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.046751415328411206
a: -0.15004655270432221
relative_time: 4.8999999999999906
}
......@@ -1399,7 +1399,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.039638545551806792
a: -0.13460565244793782
relative_time: 4.94999999999999
}
......@@ -1413,7 +1413,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.033277108674808986
a: -0.11998923672006201
relative_time: 4.99999999999999
}
......@@ -1427,7 +1427,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.027625880470992181
a: -0.10619730552069484
relative_time: 5.04999999999999
}
......@@ -1441,7 +1441,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.022643636713931048
a: -0.093229858849836256
relative_time: 5.09999999999999
}
......@@ -1456,7 +1456,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.081086896707486311
a: 0
relative_time: 5.14999999999999
}
trajectory_point {
......@@ -1470,7 +1470,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.069768419093644951
a: 0
relative_time: 5.1999999999999895
}
trajectory_point {
......@@ -1484,7 +1484,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.059274426008312231
a: 0
relative_time: 5.2499999999999893
}
trajectory_point {
......@@ -1498,7 +1498,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.049604917451488095
a: 0
relative_time: 5.2999999999999892
}
trajectory_point {
......@@ -1512,7 +1512,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.040759893423172544
a: 0
relative_time: 5.349999999999989
}
trajectory_point {
......@@ -1526,7 +1526,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.032739353923365688
a: 0
relative_time: 5.3999999999999888
}
trajectory_point {
......@@ -1540,7 +1540,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.025543298952067306
a: 0
relative_time: 5.4499999999999886
}
trajectory_point {
......@@ -1554,7 +1554,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.019171728509277619
a: 0
relative_time: 5.4999999999999885
}
trajectory_point {
......@@ -1568,7 +1568,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.013624642594996628
a: 0
relative_time: 5.5499999999999883
}
trajectory_point {
......@@ -1582,7 +1582,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00890204120922411
a: 0
relative_time: 5.5999999999999881
}
trajectory_point {
......@@ -1596,7 +1596,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0050039243519602872
a: 0
relative_time: 5.6499999999999879
}
trajectory_point {
......@@ -1610,7 +1610,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0019302920232049381
a: 0
relative_time: 5.6999999999999877
}
trajectory_point {
......@@ -1624,7 +1624,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.00031885577704171553
a: 0
relative_time: 5.7499999999999876
}
trajectory_point {
......@@ -1638,7 +1638,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0017435190487796737
a: 0
relative_time: 5.7999999999999874
}
trajectory_point {
......@@ -1652,7 +1652,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0023436977920091584
a: 0
relative_time: 5.8499999999999872
}
trajectory_point {
......@@ -1666,7 +1666,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0021193920067300587
a: 0
relative_time: 5.899999999999987
}
trajectory_point {
......@@ -1680,7 +1680,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0010706016929422635
a: 0
relative_time: 5.9499999999999869
}
trajectory_point {
......@@ -1694,7 +1694,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00080267314935411616
a: 0
relative_time: 5.9999999999999867
}
trajectory_point {
......@@ -1708,7 +1708,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00074759275150426631
a: 0
relative_time: 6.0499999999999865
}
trajectory_point {
......@@ -1722,7 +1722,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00069430792130068713
a: 0
relative_time: 6.0999999999999863
}
trajectory_point {
......@@ -1736,7 +1736,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00064281865874411923
a: 0
relative_time: 6.1499999999999861
}
trajectory_point {
......@@ -1750,7 +1750,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0005931249638345625
a: 0
relative_time: 6.199999999999986
}
trajectory_point {
......@@ -1764,7 +1764,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.000545226836572017
a: 0
relative_time: 6.2499999999999858
}
trajectory_point {
......@@ -1778,7 +1778,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00049912427695648258
a: 0
relative_time: 6.2999999999999856
}
trajectory_point {
......@@ -1792,7 +1792,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0004548172849879596
a: 0
relative_time: 6.3499999999999854
}
trajectory_point {
......@@ -1806,7 +1806,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00041230586066644774
a: 0
relative_time: 6.3999999999999853
}
trajectory_point {
......@@ -1820,7 +1820,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00037159000399194717
a: 0
relative_time: 6.4499999999999851
}
trajectory_point {
......@@ -1834,7 +1834,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00033266971496445771
a: 0
relative_time: 6.4999999999999849
}
trajectory_point {
......@@ -1848,7 +1848,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00029554499358397954
a: 0
relative_time: 6.5499999999999847
}
trajectory_point {
......@@ -1862,7 +1862,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00026021583985051254
a: 0
relative_time: 6.5999999999999845
}
trajectory_point {
......@@ -1876,7 +1876,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00022668225376405683
a: 0
relative_time: 6.6499999999999844
}
trajectory_point {
......@@ -1890,7 +1890,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00019494423532461229
a: 0
relative_time: 6.6999999999999842
}
trajectory_point {
......@@ -1904,7 +1904,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00016500178453217904
a: 0
relative_time: 6.749999999999984
}
trajectory_point {
......@@ -1918,7 +1918,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00013685490138675696
a: 0
relative_time: 6.7999999999999838
}
trajectory_point {
......@@ -1932,7 +1932,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00011050358588834605
a: 0
relative_time: 6.8499999999999837
}
trajectory_point {
......@@ -1946,7 +1946,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -8.5947838036946542e-05
a: 0
relative_time: 6.8999999999999835
}
trajectory_point {
......@@ -1960,7 +1960,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -6.3187657832557988e-05
a: 0
relative_time: 6.9499999999999833
}
trajectory_point {
......@@ -1974,7 +1974,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -4.2223045275180827e-05
a: 0
relative_time: 6.9999999999999831
}
trajectory_point {
......@@ -1988,7 +1988,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -2.3054000364814949e-05
a: 0
relative_time: 7.0499999999999829
}
trajectory_point {
......@@ -2002,7 +2002,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -5.6805231014601379e-06
a: 0
relative_time: 7.0999999999999828
}
trajectory_point {
......@@ -2016,7 +2016,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 9.8973865148832812e-06
a: 0
relative_time: 7.1499999999999826
}
trajectory_point {
......@@ -2030,7 +2030,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.3679728484215742e-05
a: 0
relative_time: 7.1999999999999824
}
trajectory_point {
......@@ -2044,7 +2044,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.56665028065367e-05
a: 0
relative_time: 7.2499999999999822
}
trajectory_point {
......@@ -2058,7 +2058,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 4.5857709481846596e-05
a: 0
relative_time: 7.2999999999999821
}
trajectory_point {
......@@ -2072,7 +2072,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 5.4253348510145205e-05
a: 0
relative_time: 7.3499999999999819
}
trajectory_point {
......@@ -2086,7 +2086,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.085341989143264e-05
a: 0
relative_time: 7.3999999999999817
}
trajectory_point {
......@@ -2100,7 +2100,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.5657923625708791e-05
a: 0
relative_time: 7.4499999999999815
}
trajectory_point {
......@@ -2114,7 +2114,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.8666859712973767e-05
a: 0
relative_time: 7.4999999999999813
}
trajectory_point {
......@@ -2128,7 +2128,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.9880228153227459e-05
a: 0
relative_time: 7.5499999999999812
}
trajectory_point {
......@@ -2142,7 +2142,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.92980289464702e-05
a: 0
relative_time: 7.599999999999981
}
trajectory_point {
......@@ -2156,7 +2156,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.6920262092701427e-05
a: 0
relative_time: 7.6499999999999808
}
trajectory_point {
......@@ -2170,7 +2170,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.2746927591921485e-05
a: 0
relative_time: 7.6999999999999806
}
trajectory_point {
......@@ -2184,7 +2184,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 5.6778025444130368e-05
a: 0
relative_time: 7.7499999999999805
}
trajectory_point {
......@@ -2198,7 +2198,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 4.9013555649327968e-05
a: 0
relative_time: 7.79999999999998
}
trajectory_point {
......@@ -2212,7 +2212,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.9453518207514392e-05
a: 0
relative_time: 7.84999999999998
}
trajectory_point {
......@@ -2226,7 +2226,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.8097913118689533e-05
a: 0
relative_time: 7.89999999999998
}
trajectory_point {
......@@ -2240,7 +2240,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 1.4946740382853715e-05
a: 0
relative_time: 7.94999999999998
}
trajectory_point {
......@@ -2254,7 +2254,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 6.3967928176644762e-18
a: 0
relative_time: 7.99999999999998
}
decision {
......
modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
浏览文件 @ ae5d3471
......@@ -545,7 +545,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.0389160079788855
a: -0.73472960556735956
relative_time: 1.900000000000001
}
......@@ -560,7 +560,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.38277324804288804
a: 0
relative_time: 1.9500000000000011
}
trajectory_point {
......@@ -574,7 +574,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.010031977641258405
a: 0
relative_time: 2.0000000000000009
}
trajectory_point {
......@@ -588,7 +588,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0074028795963318895
a: 0
relative_time: 2.0500000000000007
}
trajectory_point {
......@@ -602,7 +602,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0049186430226694985
a: 0
relative_time: 2.1000000000000005
}
trajectory_point {
......@@ -616,7 +616,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0025792679202712382
a: 0
relative_time: 2.1500000000000004
}
trajectory_point {
......@@ -630,7 +630,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00038475428913710592
a: 0
relative_time: 2.2
}
trajectory_point {
......@@ -644,7 +644,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0016648978707328958
a: 0
relative_time: 2.25
}
trajectory_point {
......@@ -658,7 +658,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.003569688559338766
a: 0
relative_time: 2.3
}
trajectory_point {
......@@ -672,7 +672,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0053296177766805081
a: 0
relative_time: 2.3499999999999996
}
trajectory_point {
......@@ -686,7 +686,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0069446855227581223
a: 0
relative_time: 2.3999999999999995
}
trajectory_point {
......@@ -700,7 +700,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0084148917975716015
a: 0
relative_time: 2.4499999999999993
}
trajectory_point {
......@@ -714,7 +714,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0097402366011209562
a: 0
relative_time: 2.4999999999999991
}
trajectory_point {
......@@ -728,7 +728,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.010920719933406179
a: 0
relative_time: 2.5499999999999989
}
trajectory_point {
......@@ -742,7 +742,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.011956341794427271
a: 0
relative_time: 2.5999999999999988
}
trajectory_point {
......@@ -756,7 +756,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.012847102184184235
a: 0
relative_time: 2.6499999999999986
}
trajectory_point {
......@@ -770,7 +770,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.01359300110267707
a: 0
relative_time: 2.6999999999999984
}
trajectory_point {
......@@ -784,7 +784,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.014194038549905768
a: 0
relative_time: 2.7499999999999982
}
trajectory_point {
......@@ -798,7 +798,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.014650214525870344
a: 0
relative_time: 2.799999999999998
}
trajectory_point {
......@@ -812,7 +812,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.014961529030570788
a: 0
relative_time: 2.8499999999999979
}
trajectory_point {
......@@ -826,7 +826,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.015127982064007102
a: 0
relative_time: 2.8999999999999977
}
trajectory_point {
......@@ -840,7 +840,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.015149573626179287
a: 0
relative_time: 2.9499999999999975
}
trajectory_point {
......@@ -854,7 +854,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.01502630371708734
a: 0
relative_time: 2.9999999999999973
}
trajectory_point {
......@@ -868,7 +868,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.014758172336731266
a: 0
relative_time: 3.0499999999999972
}
trajectory_point {
......@@ -882,7 +882,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.01434517948511106
a: 0
relative_time: 3.099999999999997
}
trajectory_point {
......@@ -896,7 +896,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.013787325162226726
a: 0
relative_time: 3.1499999999999968
}
trajectory_point {
......@@ -910,7 +910,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.013084609368078258
a: 0
relative_time: 3.1999999999999966
}
trajectory_point {
......@@ -924,7 +924,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.012237032102665664
a: 0
relative_time: 3.2499999999999964
}
trajectory_point {
......@@ -938,7 +938,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.011244593365988943
a: 0
relative_time: 3.2999999999999963
}
trajectory_point {
......@@ -952,7 +952,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.010107293158048083
a: 0
relative_time: 3.3499999999999961
}
trajectory_point {
......@@ -966,7 +966,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0088251314788431023
a: 0
relative_time: 3.3999999999999959
}
trajectory_point {
......@@ -980,7 +980,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.00739810832837399
a: 0
relative_time: 3.4499999999999957
}
trajectory_point {
......@@ -994,7 +994,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0058262237066407391
a: 0
relative_time: 3.4999999999999956
}
trajectory_point {
......@@ -1008,7 +1008,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0041094776136433708
a: 0
relative_time: 3.5499999999999954
}
trajectory_point {
......@@ -1022,7 +1022,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.0022478700493818709
a: 0
relative_time: 3.5999999999999952
}
trajectory_point {
......@@ -1036,7 +1036,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.00024140101385623086
a: 0
relative_time: 3.649999999999995
}
trajectory_point {
......@@ -1050,7 +1050,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0019099294929335285
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relative_time: 3.6999999999999948
}
trajectory_point {
......@@ -1064,7 +1064,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0042061214709874176
a: 0
relative_time: 3.7499999999999947
}
trajectory_point {
......@@ -1078,7 +1078,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0066471749203054487
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relative_time: 3.7999999999999945
}
trajectory_point {
......@@ -1092,7 +1092,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0092330898408875973
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relative_time: 3.8499999999999943
}
trajectory_point {
......@@ -1106,7 +1106,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.011963866232733876
a: 0
relative_time: 3.8999999999999941
}
trajectory_point {
......@@ -1120,7 +1120,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.014839504095844296
a: 0
relative_time: 3.949999999999994
}
trajectory_point {
......@@ -1134,7 +1134,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.017860003430218832
a: 0
relative_time: 3.9999999999999938
}
trajectory_point {
......@@ -1148,7 +1148,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.016964707122347728
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relative_time: 4.0499999999999936
}
trajectory_point {
......@@ -1162,7 +1162,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.016092426283099384
a: 0
relative_time: 4.0999999999999934
}
trajectory_point {
......@@ -1176,7 +1176,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.015243160912474301
a: 0
relative_time: 4.1499999999999932
}
trajectory_point {
......@@ -1190,7 +1190,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.014416911010472476
a: 0
relative_time: 4.1999999999999931
}
trajectory_point {
......@@ -1204,7 +1204,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.013613676577093912
a: 0
relative_time: 4.2499999999999929
}
trajectory_point {
......@@ -1218,7 +1218,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.012833457612338606
a: 0
relative_time: 4.2999999999999927
}
trajectory_point {
......@@ -1232,7 +1232,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.01207625411620656
a: 0
relative_time: 4.3499999999999925
}
trajectory_point {
......@@ -1246,7 +1246,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.011342066088697771
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relative_time: 4.3999999999999924
}
trajectory_point {
......@@ -1260,7 +1260,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.010630893529812243
a: 0
relative_time: 4.4499999999999922
}
trajectory_point {
......@@ -1274,7 +1274,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0099427364395499734
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relative_time: 4.499999999999992
}
trajectory_point {
......@@ -1288,7 +1288,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0092775948179109648
a: 0
relative_time: 4.5499999999999918
}
trajectory_point {
......@@ -1302,7 +1302,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0086354686648952139
a: 0
relative_time: 4.5999999999999917
}
trajectory_point {
......@@ -1316,7 +1316,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0080163579805027224
a: 0
relative_time: 4.6499999999999915
}
trajectory_point {
......@@ -1330,7 +1330,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0074202627647334905
a: 0
relative_time: 4.6999999999999913
}
trajectory_point {
......@@ -1344,7 +1344,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.006847183017587518
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relative_time: 4.7499999999999911
}
trajectory_point {
......@@ -1358,7 +1358,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.006297118739064805
a: 0
relative_time: 4.7999999999999909
}
trajectory_point {
......@@ -1372,7 +1372,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00577006992916535
a: 0
relative_time: 4.8499999999999908
}
trajectory_point {
......@@ -1386,7 +1386,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0052660365878891557
a: 0
relative_time: 4.8999999999999906
}
trajectory_point {
......@@ -1400,7 +1400,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0047850187152362195
a: 0
relative_time: 4.94999999999999
}
trajectory_point {
......@@ -1414,7 +1414,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0043270163112065427
a: 0
relative_time: 4.99999999999999
}
trajectory_point {
......@@ -1428,7 +1428,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0038920293758001254
a: 0
relative_time: 5.04999999999999
}
trajectory_point {
......@@ -1442,7 +1442,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0034800579090169675
a: 0
relative_time: 5.09999999999999
}
trajectory_point {
......@@ -1456,7 +1456,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0030911019108570709
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relative_time: 5.14999999999999
}
trajectory_point {
......@@ -1470,7 +1470,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0027251613813204286
a: 0
relative_time: 5.1999999999999895
}
trajectory_point {
......@@ -1484,7 +1484,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.002382236320407051
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relative_time: 5.2499999999999893
}
trajectory_point {
......@@ -1498,7 +1498,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0020623267281169276
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relative_time: 5.2999999999999892
}
trajectory_point {
......@@ -1512,7 +1512,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0017654326044500672
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relative_time: 5.349999999999989
}
trajectory_point {
......@@ -1526,7 +1526,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0014915539494064628
a: 0
relative_time: 5.3999999999999888
}
trajectory_point {
......@@ -1540,7 +1540,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0012406907629861214
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relative_time: 5.4499999999999886
}
trajectory_point {
......@@ -1554,7 +1554,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.0010128430451890394
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relative_time: 5.4999999999999885
}
trajectory_point {
......@@ -1568,7 +1568,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00080801079601521
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relative_time: 5.5499999999999883
}
trajectory_point {
......@@ -1582,7 +1582,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.000626194015464647
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relative_time: 5.5999999999999881
}
trajectory_point {
......@@ -1596,7 +1596,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00046739270353734
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relative_time: 5.6499999999999879
}
trajectory_point {
......@@ -1610,7 +1610,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00033160686023329597
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relative_time: 5.6999999999999877
}
trajectory_point {
......@@ -1624,7 +1624,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00021883648555250795
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relative_time: 5.7499999999999876
}
trajectory_point {
......@@ -1638,7 +1638,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -0.00012908157949497595
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relative_time: 5.7999999999999874
}
trajectory_point {
......@@ -1652,7 +1652,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -6.23421420607069e-05
a: 0
relative_time: 5.8499999999999872
}
trajectory_point {
......@@ -1666,7 +1666,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.8618173249697334e-05
a: 0
relative_time: 5.899999999999987
}
trajectory_point {
......@@ -1680,7 +1680,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.0903269380492806e-06
a: 0
relative_time: 5.9499999999999869
}
trajectory_point {
......@@ -1694,7 +1694,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -2.1664149745664885e-07
a: 0
relative_time: 5.9999999999999867
}
trajectory_point {
......@@ -1708,7 +1708,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.9985453785449806e-07
a: 0
relative_time: 6.0499999999999865
}
trajectory_point {
......@@ -1722,7 +1722,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.8365070245667552e-07
a: 0
relative_time: 6.0999999999999863
}
trajectory_point {
......@@ -1736,7 +1736,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.6802999127296978e-07
a: 0
relative_time: 6.1499999999999861
}
trajectory_point {
......@@ -1750,7 +1750,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.5299240430338092e-07
a: 0
relative_time: 6.199999999999986
}
trajectory_point {
......@@ -1764,7 +1764,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.3853794154790886e-07
a: 0
relative_time: 6.2499999999999858
}
trajectory_point {
......@@ -1778,7 +1778,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.2466660300655368e-07
a: 0
relative_time: 6.2999999999999856
}
trajectory_point {
......@@ -1792,7 +1792,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.1137838867931533e-07
a: 0
relative_time: 6.3499999999999854
}
trajectory_point {
......@@ -1806,7 +1806,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -9.8673298566193809e-08
a: 0
relative_time: 6.3999999999999853
}
trajectory_point {
......@@ -1820,7 +1820,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -8.6551332667189117e-08
a: 0
relative_time: 6.4499999999999851
}
trajectory_point {
......@@ -1834,7 +1834,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -7.5012490982301317e-08
a: 0
relative_time: 6.4999999999999849
}
trajectory_point {
......@@ -1848,7 +1848,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -6.4056773511530317e-08
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relative_time: 6.5499999999999847
}
trajectory_point {
......@@ -1862,7 +1862,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -5.3684180254876142e-08
a: 0
relative_time: 6.5999999999999845
}
trajectory_point {
......@@ -1876,7 +1876,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -4.3894711212338872e-08
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relative_time: 6.6499999999999844
}
trajectory_point {
......@@ -1890,7 +1890,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -3.4688366383918375e-08
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relative_time: 6.6999999999999842
}
trajectory_point {
......@@ -1904,7 +1904,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -2.606514576961473e-08
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relative_time: 6.749999999999984
}
trajectory_point {
......@@ -1918,7 +1918,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.802504936942799e-08
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relative_time: 6.7999999999999838
}
trajectory_point {
......@@ -1932,7 +1932,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -1.0568077183358023e-08
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relative_time: 6.8499999999999837
}
trajectory_point {
......@@ -1946,7 +1946,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: -3.6942292114049083e-09
a: 0
relative_time: 6.8999999999999835
}
trajectory_point {
......@@ -1960,7 +1960,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.5964945464313544e-09
a: 0
relative_time: 6.9499999999999833
}
trajectory_point {
......@@ -1974,7 +1974,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 8.3040940901507651e-09
a: 0
relative_time: 6.9999999999999831
}
trajectory_point {
......@@ -1988,7 +1988,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 1.342856941975335e-08
a: 0
relative_time: 7.0499999999999829
}
trajectory_point {
......@@ -2002,7 +2002,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 1.7969920535239083e-08
a: 0
relative_time: 7.0999999999999828
}
trajectory_point {
......@@ -2016,7 +2016,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.192814743660799e-08
a: 0
relative_time: 7.1499999999999826
}
trajectory_point {
......@@ -2030,7 +2030,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.5303250123860018e-08
a: 0
relative_time: 7.1999999999999824
}
trajectory_point {
......@@ -2044,7 +2044,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.8095228596995221e-08
a: 0
relative_time: 7.2499999999999822
}
trajectory_point {
......@@ -2058,7 +2058,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.0304082856013651e-08
a: 0
relative_time: 7.2999999999999821
}
trajectory_point {
......@@ -2072,7 +2072,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.192981290091515e-08
a: 0
relative_time: 7.3499999999999819
}
trajectory_point {
......@@ -2086,7 +2086,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.2972418731699823e-08
a: 0
relative_time: 7.3999999999999817
}
trajectory_point {
......@@ -2100,7 +2100,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.3431900348367723e-08
a: 0
relative_time: 7.4499999999999815
}
trajectory_point {
......@@ -2114,7 +2114,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.3308257750918691e-08
a: 0
relative_time: 7.4999999999999813
}
trajectory_point {
......@@ -2128,7 +2128,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.2601490939352887e-08
a: 0
relative_time: 7.5499999999999812
}
trajectory_point {
......@@ -2142,7 +2142,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.1311599913670204e-08
a: 0
relative_time: 7.599999999999981
}
trajectory_point {
......@@ -2156,7 +2156,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.9438584673870696e-08
a: 0
relative_time: 7.6499999999999808
}
trajectory_point {
......@@ -2170,7 +2170,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.6982445219954362e-08
a: 0
relative_time: 7.6999999999999806
}
trajectory_point {
......@@ -2184,7 +2184,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.3943181551921149e-08
a: 0
relative_time: 7.7499999999999805
}
trajectory_point {
......@@ -2198,7 +2198,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.0320793669771084e-08
a: 0
relative_time: 7.79999999999998
}
trajectory_point {
......@@ -2212,7 +2212,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 1.6115281573504246e-08
a: 0
relative_time: 7.84999999999998
}
trajectory_point {
......@@ -2226,7 +2226,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 1.1326645263120504e-08
a: 0
relative_time: 7.89999999999998
}
trajectory_point {
......@@ -2240,7 +2240,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 5.9548847386199617e-09
a: 0
relative_time: 7.94999999999998
}
trajectory_point {
......@@ -2254,7 +2254,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 2.541098841762901e-21
a: 0
relative_time: 7.99999999999998
}
decision {
......
modules/planning/testdata/yongfengchanyeyuan_test/result_cruise_0.pb.txt
浏览文件 @ ae5d3471
......@@ -14,7 +14,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 3.3019420531132937e-13
a: 0
relative_time: 0
}
trajectory_point {
......@@ -28,7 +28,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.049836006382971851
a: 0
relative_time: 0.05
}
trajectory_point {
......@@ -42,7 +42,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.098711190482835179
a: 0
relative_time: 0.1
}
trajectory_point {
......@@ -56,7 +56,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.14662555229992019
a: 0
relative_time: 0.15000000000000002
}
trajectory_point {
......@@ -70,7 +70,7 @@ trajectory_point {
ddkappa: 0
}
v: 0
a: 0.19357909183422695
a: 0
relative_time: 0.2
}
trajectory_point {
......@@ -83,7 +83,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.03044690440811414
a: 0.23957180908575532
relative_time: 0.25
}
......@@ -97,7 +97,7 @@ trajectory_point {
dkappa: 0
ddkappa: 0
}
v: 0
v: 0.0435552956627989
a: 0.28460370405450536
relative_time: 0.3
}
......
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