Planning: fix integration test

modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt

@@ -13,8 +13,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -28,8 +28,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -43,8 +43,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -58,8 +58,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -73,8 +73,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -88,8 +88,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -103,8 +103,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -118,8 +118,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -133,8 +133,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -148,8 +148,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -163,8 +163,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -178,8 +178,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -193,8 +193,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -208,8 +208,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     s: 0
     dkappa: 0
     ddkappa: 0
@@ -223,8 +223,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     s: 0
     dkappa: 0
     ddkappa: 0
@@ -238,8 +238,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     s: 0
     dkappa: 0
     ddkappa: 0
@@ -253,8 +253,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     dkappa: 0
     ddkappa: 0
@@ -268,8 +268,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     s: 0
     dkappa: 0
     ddkappa: 0
@@ -283,8 +283,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     s: 0
     dkappa: 0
     ddkappa: 0
@@ -298,8 +298,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     s: 0
     dkappa: 0
     ddkappa: 0
@@ -313,8 +313,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     s: 0
     dkappa: 0
     ddkappa: 0
@@ -328,8 +328,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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     dkappa: 0
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@@ -343,8 +343,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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@@ -358,8 +358,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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@@ -373,8 +373,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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@@ -388,8 +388,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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@@ -403,8 +403,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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@@ -418,8 +418,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
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@@ -433,8 +433,8 @@ trajectory_point {
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     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
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+    theta: 1.3120887936392123
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@@ -448,8 +448,8 @@ trajectory_point {
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     y: 4140735.5238598073
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-    theta: 1.3120887936079759
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@@ -463,8 +463,8 @@ trajectory_point {
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     y: 4140735.5238598073
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-    theta: 1.3120887936079759
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@@ -478,8 +478,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -493,8 +493,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -508,8 +508,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -523,8 +523,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -538,8 +538,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -553,8 +553,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -568,8 +568,8 @@ trajectory_point {
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@@ -583,8 +583,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -598,8 +598,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -613,8 +613,8 @@ trajectory_point {
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@@ -628,8 +628,8 @@ trajectory_point {
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@@ -643,8 +643,8 @@ trajectory_point {
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@@ -658,8 +658,8 @@ trajectory_point {
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@@ -673,8 +673,8 @@ trajectory_point {
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-    theta: 1.3120887936079759
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@@ -688,8 +688,8 @@ trajectory_point {
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@@ -703,8 +703,8 @@ trajectory_point {
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@@ -718,8 +718,8 @@ trajectory_point {
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@@ -733,8 +733,8 @@ trajectory_point {
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@@ -748,8 +748,8 @@ trajectory_point {
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@@ -763,8 +763,8 @@ trajectory_point {
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@@ -778,8 +778,8 @@ trajectory_point {
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@@ -793,8 +793,8 @@ trajectory_point {
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@@ -808,8 +808,8 @@ trajectory_point {
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@@ -823,8 +823,8 @@ trajectory_point {
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@@ -838,8 +838,8 @@ trajectory_point {
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@@ -853,8 +853,8 @@ trajectory_point {
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@@ -868,8 +868,8 @@ trajectory_point {
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@@ -883,8 +883,8 @@ trajectory_point {
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@@ -898,8 +898,8 @@ trajectory_point {
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@@ -913,8 +913,8 @@ trajectory_point {
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     ddkappa: 0
@@ -928,8 +928,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -943,8 +943,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -958,8 +958,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -973,8 +973,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -988,8 +988,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -1003,8 +1003,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -1018,8 +1018,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -1033,8 +1033,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -1048,8 +1048,8 @@ trajectory_point {
     x: 586354.03050066391
     y: 4140735.5238598073
     z: 0
-    theta: 1.3120887936079759
-    kappa: 9.1876173836100386e-16
+    theta: 1.3120887936392123
+    kappa: 4.5203407479910366e-15
     s: 0
     dkappa: 0
     ddkappa: 0
@@ -1061,13 +1061,13 @@ trajectory_point {
 decision {
   main_decision {
     stop {
-      reason_code: STOP_REASON_HEAD_VEHICLE
-      reason: "stop by 2352_0"
+      reason_code: STOP_REASON_STOP_SIGN
+      reason: "stop by SS_2"
       stop_point {
-        x: 586353.37680918071
-        y: 4140733.21346399
+        x: 586367.08466100844
+        y: 4140784.0102793546
       }
-      stop_heading: 1.3219597809209793
+      stop_heading: 1.2863090794017198
       change_lane_type: FORWARD
     }
   }
@@ -1076,14 +1076,14 @@ decision {
       id: "2352_0"
       perception_id: 2352
       object_decision {
-        stop {
-          distance_s: -6
-          stop_point {
-            x: 586353.37680918071
-            y: 4140733.21346399
+        follow {
+          distance_s: -3
+          fence_point {
+            x: 586354.41084815562
+            y: 4140737.2841842384
             z: 0
           }
-          stop_heading: 1.3219597809209793
+          fence_heading: 1.3218977986964826
         }
       }
     }

modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_0.pb.txt

@@ -27,11 +27,11 @@ decision {
         follow {
           distance_s: -3
           fence_point {
-            x: 586260.233675317
-            y: 4141284.4917570944
+            x: 586260.58647816256
+            y: 4141283.163007583
             z: 0
           }
-          fence_heading: -1.3577543487779731
+          fence_heading: -1.2899817911884237
         }
       }
     }
@@ -42,11 +42,11 @@ decision {
         follow {
           distance_s: -3
           fence_point {
-            x: 586260.20623721776
-            y: 4141284.6137085222
+            x: 586260.5296822344
+            y: 4141283.3547710115
             z: 0
           }
-          fence_heading: -1.3577543487779731
+          fence_heading: -1.307273239870101
         }
       }
     }

modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_1.pb.txt

@@ -27,11 +27,11 @@ decision {
         follow {
           distance_s: -3
           fence_point {
-            x: 586260.233675317
-            y: 4141284.4917570944
+            x: 586260.58647816256
+            y: 4141283.163007583
             z: 0
           }
-          fence_heading: -1.3577543487779731
+          fence_heading: -1.2899817911884237
         }
       }
     }
@@ -42,11 +42,11 @@ decision {
         follow {
           distance_s: -3
           fence_point {
-            x: 586260.20623721776
-            y: 4141284.6137085222
+            x: 586260.5296822344
+            y: 4141283.3547710115
             z: 0
           }
-          fence_heading: -1.3577543487779731
+          fence_heading: -1.307273239870101
         }
       }
     }

modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_02_0.pb.txt

@@ -20,11 +20,11 @@ decision {
         follow {
           distance_s: -5.08480716496706
           fence_point {
-            x: 586426.57010789728
-            y: 4140685.9955443493
+            x: 586426.79565415136
+            y: 4140686.9697767082
             z: 0
           }
-          fence_heading: 1.3422560695149219
+          fence_heading: 1.3435817605884139
         }
       }
     }

modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_03_0.pb.txt

@@ -20,11 +20,11 @@ decision {
         follow {
           distance_s: -3
           fence_point {
-            x: 586436.26475142757
-            y: 4140725.6605456178
+            x: 586436.73277672951
+            y: 4140727.4729266441
             z: 0
           }
-          fence_heading: 1.3183887244443382
+          fence_heading: 1.3179028672254074
         }
       }
     }