Planning: OpenSpace: change proto name

modules/planning/conf/planner_open_space_config.pb.txt

@@ -41,18 +41,18 @@ dual_variable_warm_start_config : {
 }
 
 distance_approach_config : {
-  weight_u : 0.0
-  weight_u : 0.0
-  weight_u_rate : 0.02
-  weight_u_rate : 0.02
-  weight_state : 1.0
-  weight_state : 1.0
-  weight_state : 2.0
-  weight_state : 0.0
-  weight_stitching : 0.02
-  weight_stitching : 0.02
-  weight_time : 8.0
-  weight_time : 16.0
+  weight_steer : 0.0
+  weight_a : 0.0
+  weight_steer_rate : 0.02
+  weight_a_rate : 0.02
+  weight_x : 1.0
+  weight_y : 1.0
+  weight_phi : 2.0
+  weight_v : 0.0
+  weight_steer_stitching : 0.02
+  weight_a_stitching : 0.02
+  weight_first_order_time : 8.0
+  weight_second_order_time : 16.0
   min_safety_distance : 0.0
   max_speed_forward : 2.0
   max_speed_reverse : 1.0

modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.cc

@@ -70,18 +70,20 @@ DistanceApproachIPOPTInterface::DistanceApproachIPOPTInterface(
   planner_open_space_config_.CopyFrom(planner_open_space_config);
   distance_approach_config_ =
       planner_open_space_config_.distance_approach_config();
-  weight_state_x_ = distance_approach_config_.weight_state(0);
-  weight_state_y_ = distance_approach_config_.weight_state(1);
-  weight_state_phi_ = distance_approach_config_.weight_state(2);
-  weight_state_v_ = distance_approach_config_.weight_state(3);
-  weight_input_steer_ = distance_approach_config_.weight_u(0);
-  weight_input_a_ = distance_approach_config_.weight_u(1);
-  weight_rate_steer_ = distance_approach_config_.weight_u_rate(0);
-  weight_rate_a_ = distance_approach_config_.weight_u_rate(1);
-  weight_stitching_steer_ = distance_approach_config_.weight_stitching(0);
-  weight_stitching_a_ = distance_approach_config_.weight_stitching(1);
-  weight_first_order_time_ = distance_approach_config_.weight_time(0);
-  weight_second_order_time_ = distance_approach_config_.weight_time(1);
+  weight_state_x_ = distance_approach_config_.weight_x();
+  weight_state_y_ = distance_approach_config_.weight_y();
+  weight_state_phi_ = distance_approach_config_.weight_phi();
+  weight_state_v_ = distance_approach_config_.weight_v();
+  weight_input_steer_ = distance_approach_config_.weight_steer();
+  weight_input_a_ = distance_approach_config_.weight_a();
+  weight_rate_steer_ = distance_approach_config_.weight_steer_rate();
+  weight_rate_a_ = distance_approach_config_.weight_a_rate();
+  weight_stitching_steer_ = distance_approach_config_.weight_steer_stitching();
+  weight_stitching_a_ = distance_approach_config_.weight_a_stitching();
+  weight_first_order_time_ =
+      distance_approach_config_.weight_first_order_time();
+  weight_second_order_time_ =
+      distance_approach_config_.weight_second_order_time();
   min_safety_distance_ = distance_approach_config_.min_safety_distance();
   max_steer_angle_ =
       vehicle_param_.max_steer_angle() / vehicle_param_.steer_ratio();
@@ -1317,12 +1319,12 @@ void DistanceApproachIPOPTInterface::finalize_solution(
   int time_index = time_start_index_;
   int dual_l_index = l_start_index_;
   int dual_n_index = n_start_index_;
-  // 1. state variables, 4 * [0, horizon]
-  // 2. control variables, 2 * [0, horizon_-1]
-  // 3. sampling time variables, 1 * [0, horizon_]
-  // 4. dual_l obstacles_edges_sum_ * [0, horizon]
-  // 5. dual_n obstacles_num * [0, horizon]
-  #pragma omp parallel num_threads(4)
+// 1. state variables, 4 * [0, horizon]
+// 2. control variables, 2 * [0, horizon_-1]
+// 3. sampling time variables, 1 * [0, horizon_]
+// 4. dual_l obstacles_edges_sum_ * [0, horizon]
+// 5. dual_n obstacles_num * [0, horizon]
+#pragma omp parallel num_threads(4)
   for (int i = 0; i < horizon_; ++i) {
     state_result_(0, i) = x[state_index];
     state_result_(1, i) = x[state_index + 1];

modules/planning/proto/planner_open_space_config.proto

@@ -53,20 +53,27 @@ message DualVariableWarmStartConfig {
 
 message DistanceApproachConfig {
   // Distance approach weight configs
-  repeated double weight_u = 1;
-  repeated double weight_u_rate = 2;
-  repeated double weight_state = 3;
-  repeated double weight_stitching = 4;
-  repeated double weight_time = 5;
-  optional double min_safety_distance = 6 [default = 0.0];
-  optional double max_speed_forward = 7 [default = 3.0];
-  optional double max_speed_reverse = 8 [default = 2.0];
-  optional double max_acceleration_forward = 9 [default = 2.0];
-  optional double max_acceleration_reverse = 10 [default = 2.0];
-  optional double min_time_sample_scaling = 11 [default = 0.1];
-  optional double max_time_sample_scaling = 12 [default = 10.0];
-  optional bool use_fix_time = 13 [default = false];
-  optional IpoptConfig ipopt_config = 14;
+  optional double weight_steer = 1;
+  optional double weight_a = 2;
+  optional double weight_steer_rate = 3;
+  optional double weight_a_rate = 4;
+  optional double weight_x = 5;
+  optional double weight_y = 6;
+  optional double weight_phi = 7;
+  optional double weight_v = 8;
+  optional double weight_steer_stitching = 9;
+  optional double weight_a_stitching = 10;
+  optional double weight_first_order_time = 11;
+  optional double weight_second_order_time = 12;
+  optional double min_safety_distance = 13 [default = 0.0];
+  optional double max_speed_forward = 14 [default = 3.0];
+  optional double max_speed_reverse = 15 [default = 2.0];
+  optional double max_acceleration_forward = 16 [default = 2.0];
+  optional double max_acceleration_reverse = 17 [default = 2.0];
+  optional double min_time_sample_scaling = 18 [default = 0.1];
+  optional double max_time_sample_scaling = 19 [default = 10.0];
+  optional bool use_fix_time = 20 [default = false];
+  optional IpoptConfig ipopt_config = 21;
 }
 
 message IpoptConfig {

modules/planning/testdata/conf/open_space_standard_parking_lot.pb.txt

@@ -41,18 +41,18 @@ dual_variable_warm_start_config : {
 }
 
 distance_approach_config : {
-  weight_u : 0.0
-  weight_u : 0.0
-  weight_u_rate : 0.02
-  weight_u_rate : 0.02
-  weight_state : 1.0
-  weight_state : 1.0
-  weight_state : 2.0
-  weight_state : 0.0
-  weight_stitching : 0.02
-  weight_stitching : 0.02
-  weight_time : 8.0
-  weight_time : 16.0
+  weight_steer : 0.0
+  weight_a : 0.0
+  weight_steer_rate : 0.02
+  weight_a_rate : 0.02
+  weight_x : 1.0
+  weight_y : 1.0
+  weight_phi : 2.0
+  weight_v : 0.0
+  weight_steer_stitching : 0.02
+  weight_a_stitching : 0.02
+  weight_first_order_time : 8.0
+  weight_second_order_time : 16.0
   min_safety_distance : 0.0
   max_speed_forward : 2.0
   max_speed_reverse : 1.0