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{ "rule": "repeated", "type": "TaskConfig", "id": 5 } } }, "StatsGroup": { "fields": { "max": { "type": "double", "id": 1 }, "min": { "type": "double", "id": 2, "options": { "default": 10000000000 } }, "sum": { "type": "double", "id": 3 }, "avg": { "type": "double", "id": 4 }, "num": { "type": "int32", "id": 5 } } }, "PlanningStats": { "fields": { "totalPathLength": { "type": "StatsGroup", "id": 1 }, "totalPathTime": { "type": "StatsGroup", "id": 2 }, "v": { "type": "StatsGroup", "id": 3 }, "a": { "type": "StatsGroup", "id": 4 }, "kappa": { "type": "StatsGroup", "id": 5 }, "dkappa": { "type": "StatsGroup", "id": 6 } } }, "BareIntersectionStatus": { "fields": { "currentPncJunctionOverlapId": { "type": "string", "id": 1 }, "donePncJunctionOverlapId": { "type": "string", "id": 2 } } }, "ChangeLaneStatus": { "fields": { "status": { "type": "Status", "id": 1 }, "pathId": { "type": "string", "id": 2 }, "timestamp": { "type": "double", "id": 3 }, "existLaneChangeStartPosition": { "type": 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"lowSpeedCentricAccelerationLimit": { "type": "double", "id": 4, "options": { "default": 1.4 } }, "highSpeedThreshold": { "type": "double", "id": 5, "options": { "default": 20 } }, "lowSpeedThreshold": { "type": "double", "id": 6, "options": { "default": 7 } }, "minimalKappa": { "type": "double", "id": 7, "options": { "default": 0.00001 } }, "pointExtension": { "type": "double", "id": 8, "options": { "default": 1 } }, "lowestSpeed": { "type": "double", "id": 9, "options": { "default": 2.5 } }, "numPointsToAvgKappa": { "type": "uint32", "id": 10, "options": { "default": 4 } }, "collisionSafetyRange": { "type": "double", "id": 11, "options": { "default": 1 } }, "staticObsNudgeSpeedRatio": { "type": "double", "id": 12 }, "dynamicObsNudgeSpeedRatio": { "type": "double", "id": 13 }, "centriJerkSpeedCoeff": { "type": "double", "id": 14 } } }, "SpiralCurveConfig": { "fields": { "simpsonSize": { "type": "int32", "id": 1, "options": { "default": 9 } }, "newtonRaphsonTol": { "type": "double", 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"id": 1, "options": { "default": 0.5 } } } }, "KeepClearConfig": { "fields": { "enableKeepClearZone": { "type": "bool", "id": 1, "options": { "default": true } }, "enableJunction": { "type": "bool", "id": 2, "options": { "default": true } }, "minPassSDistance": { "type": "double", "id": 3, "options": { "default": 2 } }, "alignWithTrafficSignTolerance": { "type": "double", "id": 4, "options": { "default": 4.5 } } } }, "ReferenceLineEndConfig": { "fields": { "stopDistance": { "type": "double", "id": 1, "options": { "default": 0.5 } }, "minReferenceLineRemainLength": { "type": "double", "id": 2, "options": { "default": 50 } } } }, "ReroutingConfig": { "fields": { "cooldownTime": { "type": "double", "id": 1, "options": { "default": 3 } }, "prepareReroutingTime": { "type": "double", "id": 2, "options": { "default": 2 } } } }, "StopSignConfig": { "fields": { "enabled": { "type": "bool", "id": 1, "options": { "default": true } }, "stopDistance": { "type": "double", "id": 2, "options": { 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"laneSequence": { "rule": "repeated", "type": "LaneSequence", "id": 1 } } }, "LaneObstacle": { "fields": { "obstacleId": { "type": "int32", "id": 1 }, "laneId": { "type": "string", "id": 2 }, "laneS": { "type": "double", "id": 3 }, "laneL": { "type": "double", "id": 4 } } }, "PredictionPathPoint": { "fields": { "x": { "rule": "required", "type": "double", "id": 1 }, "y": { "rule": "required", "type": "double", "id": 2 }, "velocityHeading": { "type": "double", "id": 3 } } }, "PredictionTrajectoryPoint": { "fields": { "pathPoint": { "rule": "required", "type": "PredictionPathPoint", "id": 1 }, "timestamp": { "rule": "required", "type": "double", "id": 2 } } } } }, "relative_map": { "nested": { "NavigationPath": { "fields": { "path": { "type": "apollo.common.Path", "id": 1 }, "pathPriority": { "type": "uint32", "id": 2 } } }, "NavigationInfo": { "fields": { "header": { "type": "apollo.common.Header", "id": 1 }, "navigationPath": { "rule": "repeated", "type": "NavigationPath", "id": 2 } } }, "MapMsg": { "fields": { "header": { "type": "apollo.common.Header", "id": 1 }, "hdmap": { "type": "apollo.hdmap.Map", "id": 2 }, "navigationPath": { "keyType": "string", "type": "NavigationPath", "id": 3 }, "laneMarker": { "type": "apollo.perception.LaneMarkers", "id": 4 }, "localization": { "type": "apollo.localization.LocalizationEstimate", "id": 5 } } }, "SampleParam": { "fields": { "straightSampleInterval": { "type": "double", "id": 1, "options": { "default": 3 } }, "smallKappaSampleInterval": { "type": "double", "id": 2, "options": { "default": 1 } }, "middleKappaSampleInterval": { "type": "double", "id": 3, "options": { "default": 0.4 } }, "largeKappaSampleInterval": { "type": "double", "id": 4, "options": { "default": 0.1 } }, "smallKappa": { "type": "double", "id": 5, "options": { "default": 0.002 } }, "middleKappa": { "type": "double", "id": 6, "options": { "default": 0.008 } }, "largeKappa": { "type": "double", "id": 7, "options": { "default": 0.02 } } } }, "NavigatorConfig": { "fields": { "enableNavigatorDownsample": { "type": "bool", "id": 1, "options": { "default": true } }, "sampleParam": { "type": "SampleParam", "id": 2 } } }, "MapGenerationParam": { "fields": { "defaultLeftWidth": { "type": "double", "id": 1, "options": { "default": 1.75 } }, "defaultRightWidth": { "type": "double", "id": 2, "options": { "default": 1.75 } }, "defaultSpeedLimit": { "type": "double", "id": 3, "options": { "default": 29.0576 } } } }, "NavigationLaneConfig": { "fields": { "minLaneMarkerQuality": { "type": "double", "id": 1, "options": { "default": 0.5 } }, "laneSource": { "type": "LaneSource", "id": 2 }, "maxLenFromNavigationLine": { "type": "double", "id": 3, "options": { "default": 250 } }, "minLenForNavigationLane": { "type": "double", "id": 4, "options": { "default": 150 } }, "maxLenForNavigationLane": { "type": "double", "id": 5, "options": { "default": 250 } }, "ratioNavigationLaneLenToSpeed": { "type": "double", "id": 6, "options": { "default": 8 } }, "maxDistanceToNavigationLine": { "type": "double", "id": 7, "options": { "default": 15 } }, "minViewRangeToUseLaneMarker": { "type": "double", "id": 8, "options": { "default": 0.5 } }, "minLaneHalfWidth": { "type": "double", "id": 9, "options": { "default": 1.5 } }, "maxLaneHalfWidth": { "type": "double", "id": 10, "options": { "default": 2 } }, "laneMarkerWeight": { "type": "double", "id": 11, "options": { "default": 0.1 } } }, "nested": { "LaneSource": { "values": { "PERCEPTION": 1, "OFFLINE_GENERATED": 2 } } } }, "RelativeMapConfig": { "fields": { "mapParam": { "type": "MapGenerationParam", "id": 1 }, "navigationLane": { "type": "NavigationLaneConfig", "id": 2 } } } } } } } } }