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Apollo_planning_optimizers_and_deciders.cpp
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Apollo_planning_optimizers_and_deciders.cpp
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Apollo 5.0:
//////////////////////////////////////////////////////////
scenario_type: LANE_FOLLOW
stage_type: LANE_FOLLOW_DEFAULT_STAGE
stage_config: {
stage_type: LANE_FOLLOW_DEFAULT_STAGE
enabled: true
task_type: LANE_CHANGE_DECIDER
task_type: PATH_LANE_BORROW_DECIDER
task_type: PATH_BOUNDS_DECIDER
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_ASSESSMENT_DECIDER
task_type: PATH_DECIDER
task_type: RULE_BASED_STOP_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
task_type: DECIDER_RSS
////////////////////////////////////////////////////////
modules/planning/tasks/optimizers/path_time_heuristic/path_time_heuristic_optimizer.cc
modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc
modules/planning/tasks/optimizers/piecewise_jerk_path/piecewise_jerk_path_optimizer.cc
//
task_type: LANE_CHANGE_DECIDER
task_type: PATH_LANE_BORROW_DECIDER
task_type: PATH_BOUNDS_DECIDER
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_ASSESSMENT_DECIDER
task_type: PATH_DECIDER
task_type: RULE_BASED_STOP_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
task_type: DECIDER_RSS
PATH_BOUNDS_DECIDER
PIECEWISE_JERK_PATH_OPTIMIZER
PATH_ASSESSMENT_DECIDER
PATH_DECIDER
SPEED_BOUNDS_PRIORI_DECIDER
SPEED_BOUNDS_FINAL_DECIDER
DP_ST_SPEED_OPTIMIZER
SPEED_DECIDER
PIECEWISE_JERK_SPEED_OPTIMIZER
DECIDER_RSS
RULE_BASED_STOP_DECIDER
task_type: PATH_BOUNDS_DECIDER
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_ASSESSMENT_DECIDER
task_type: PATH_DECIDER
task_type: RULE_BASED_STOP_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
task_type: DECIDER_RSS
task_type: OPEN_SPACE_PRE_STOP_DECIDER
task_type: PATH_LANE_BORROW_DECIDER
task_type: PATH_BOUNDS_DECIDER
task_type: PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_ASSESSMENT_DECIDER
task_type: PATH_DECIDER
task_type: RULE_BASED_STOP_DECIDER
task_type: SPEED_BOUNDS_PRIORI_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: SPEED_BOUNDS_FINAL_DECIDER
task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
//////////////////////////////////////////////////////////////////
Apollo 3.5
//
scenario_type: LANE_FOLLOW
stage_type: LANE_FOLLOW_DEFAULT_STAGE
stage_config: {
stage_type: LANE_FOLLOW_DEFAULT_STAGE
enabled: true
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_type: DECIDER_RSS
//
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: QP_PIECEWISE_JERK_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_type: DECIDER_RSS
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER
task_type: DECIDER_RULE_BASED_STOP
task_type: DP_POLY_PATH_OPTIMIZER
task_type: PATH_DECIDER
task_type: DP_ST_SPEED_OPTIMIZER
task_type: SPEED_DECIDER
task_type: QP_SPLINE_ST_SPEED_OPTIMIZER