From eb4e0b6934c37349098699e50484409a7251a053 Mon Sep 17 00:00:00 2001
From: Zhang Liangliang <zhangliangliang@baidu.com>
Date: Fri, 21 Jul 2017 10:49:07 -0700
Subject: [PATCH] added qp_spline_st_speed_config

---
 modules/planning/proto/BUILD                  |  1 +
 .../proto/qp_spline_st_speed_config.proto     | 22 +++++++++++++++++++
 2 files changed, 23 insertions(+)
 create mode 100644 modules/planning/proto/qp_spline_st_speed_config.proto

diff --git a/modules/planning/proto/BUILD b/modules/planning/proto/BUILD
index 7f168bded3..046c69e2d6 100644
--- a/modules/planning/proto/BUILD
+++ b/modules/planning/proto/BUILD
@@ -11,6 +11,7 @@ cc_proto_library(
         "planning_config.proto",
         "planning_internal.proto",
         "st_boundary_config.proto",
+        "qp_spline_st_speed_config.proto",
     ],
     deps = [
         "//modules/canbus/proto:canbus_proto",
diff --git a/modules/planning/proto/qp_spline_st_speed_config.proto b/modules/planning/proto/qp_spline_st_speed_config.proto
new file mode 100644
index 0000000000..2dd1f6dbbc
--- /dev/null
+++ b/modules/planning/proto/qp_spline_st_speed_config.proto
@@ -0,0 +1,22 @@
+syntax = "proto2";
+
+package apollo.planning;
+
+message QpSplineStSpeedConfig {
+  optional double total_path_length = 1 [ default = 80.0 ];
+  optional double total_time = 2 [ default = 8.0 ];
+  optional double output_time_resolution = 3 [ default = 0.05 ];
+  optional int32 number_of_discrete_graph_s = 4 [ default = 80 ];
+  optional int32 number_of_discrete_graph_t = 5 [ default = 10 ];
+  optional int32 number_of_evaluated_graph_t = 6 [ default = 10 ];
+  optional int32 spline_order = 7 [ default = 6 ];
+  optional double speed_kernel_weight = 8 [ default = 0.0 ];
+  optional double accel_kernel_weight = 9 [ default = 0.0 ];
+  optional double jerk_kernel_weight = 10 [ default = 1000.0 ];
+  optional double follow_weight = 11 [ default = 1.0 ];
+  optional double stop_weight = 12 [ default = 1.0 ];
+  optional double cruise_weight = 13 [ default = 1.0 ];
+  optional double max_speed = 14 [ default = 20.0 ];
+  optional double max_acceleration = 15 [ default = 4.5 ];
+  optional double max_deceleration = 16 [ default = -4.5 ];
+}
-- 
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