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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/garage_test/stop_dest_prediction.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/garage_test/result_stop_over_line_0.pb.txt
|
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trajectory_type: SPEED_FALLBACK
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/garage_test/result_stop_obstacle_0.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/garage_test/stop_dest_localization.pb.txt
|
header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/garage_test/result_dest_stop_01_0.pb.txt
|
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dkappa: -9.14836220978069e-05
ddkappa: 0
}
v: 1.6122864402900521
a: -0.12186610449815662
relative_time: 6.2999999999999945
}
trajectory_point {
path_point {
x: 586366.13014902361
y: 4140779.2904749569
theta: 1.3173013946047565
kappa: 0.00059113338659177051
s: 17.758343243002095
dkappa: -9.1305633144168842e-05
ddkappa: 0
}
v: 1.6009748175383081
a: -0.10436635053671622
relative_time: 6.3999999999999941
}
trajectory_point {
path_point {
x: 586366.17019947874
y: 4140779.4449732807
theta: 1.3173994732007879
kappa: 0.00057660338202000316
s: 17.917948289483807
dkappa: -9.11288002525005e-05
ddkappa: 0
}
v: 1.5914200769016187
a: -0.086728462197074627
relative_time: 6.4999999999999938
}
trajectory_point {
path_point {
x: 586366.20999041048
y: 4140779.5986431129
theta: 1.3174901339216731
kappa: 0.00056222750580268792
s: 18.076686242682683
dkappa: -9.0962066099131879e-05
ddkappa: 0
}
v: 1.5836348652728849
a: -0.0689757703776002
relative_time: 6.5999999999999934
}
trajectory_point {
path_point {
x: 586366.249563142
y: 4140779.7516570967
theta: 1.3175729580742708
kappa: 0.00054799536349905
s: 18.234734590907561
dkappa: -9.0805934499530353e-05
ddkappa: 0
}
v: 1.577629504719436
a: -0.051131440691378149
relative_time: 6.6999999999999931
}
trajectory_point {
path_point {
x: 586366.28900787747
y: 4140779.9041761644
theta: 1.3176555143359812
kappa: 0.00053380925440098
s: 18.392271739065134
dkappa: -9.0650307900361411e-05
ddkappa: 0
}
v: 1.5734120073229705
a: -0.033218507237936151
relative_time: 6.7999999999999927
}
trajectory_point {
path_point {
x: 586366.32836945809
y: 4140780.0563737014
theta: 1.3177378965582687
kappa: 0.0005196530514805798
s: 18.549476778262466
dkappa: -9.0495009382464972e-05
ddkappa: 0
}
v: 1.5709880866359023
a: -0.015259906503425874
relative_time: 6.8999999999999924
}
trajectory_point {
path_point {
x: 586366.36769071838
y: 4140780.2084153336
theta: 1.3178201943915813
kappa: 0.00050551134959482286
s: 18.706520783054437
dkappa: -9.0339869946011553e-05
ddkappa: 0
}
v: 1.5701069658125324
a: -0.0023625099639694985
relative_time: 6.999999999999992
}
decision {
main_decision {
stop {
reason_code: STOP_REASON_STOP_SIGN
reason: "stop by SS_2"
stop_point {
x: 586367.236488468
y: 4140784.0138756474
}
stop_heading: 1.3047034640546464
change_lane_type: FORWARD
}
}
object_decision {
decision {
id: "DEST"
perception_id: -2075886388
object_decision {
stop {
reason_code: STOP_REASON_DESTINATION
distance_s: -0.5
stop_point {
x: 586367.30757527659
y: 4140784.2746906909
z: 0
}
stop_heading: 1.3047033088415634
}
}
}
decision {
id: "REF_END_0_0"
perception_id: -37126752
object_decision {
stop {
reason_code: STOP_REASON_DESTINATION
distance_s: -0.5
stop_point {
x: 586367.65580337122
y: 4140785.5523254811
z: 0
}
stop_heading: 1.3047026106989477
}
}
}
decision {
id: "SS_2"
perception_id: -1262210198
object_decision {
stop {
reason_code: STOP_REASON_STOP_SIGN
distance_s: -1
stop_point {
x: 586367.236488468
y: 4140784.0138756474
z: 0
}
stop_heading: 1.3047034640546464
}
}
}
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1234.5
module_name: "routing"
sequence_num: 1
}
right_of_way_status: UNPROTECTED
lane_id {
id: "1_-1"
}
engage_advice {
advice: KEEP_ENGAGED
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/1_routing.pb.txt
|
header {
timestamp_sec: 1522096299.304265
module_name: "routing"
sequence_num: 1
}
road {
id: "2972"
passage {
segment {
id: "2972_1_-1"
start_s: 34.393144893029579
end_s: 85.3534
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2974"
passage {
segment {
id: "2974_1_-1"
start_s: 0
end_s: 11.3993
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2975"
passage {
segment {
id: "2975_1_-1"
start_s: 0
end_s: 4.35141
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11181"
passage {
segment {
id: "11181_1_-1"
start_s: 0
end_s: 7.29303
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11180"
passage {
segment {
id: "11180_1_-1"
start_s: 0
end_s: 4.07289
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "812"
passage {
segment {
id: "812_1_-1"
start_s: 0
end_s: 25.6336
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "204"
passage {
segment {
id: "204_1_-1"
start_s: 0
end_s: 4.23033
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11042"
passage {
segment {
id: "11042_1_-1"
start_s: 0
end_s: 3.79788
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11041"
passage {
segment {
id: "11041_1_-1"
start_s: 0
end_s: 11.5049
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1697a"
passage {
segment {
id: "1697a_1_-1"
start_s: 0
end_s: 20.7036
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "368"
passage {
segment {
id: "368_1_-1"
start_s: 0
end_s: 15.2844
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "449"
passage {
segment {
id: "449_1_-1"
start_s: 0
end_s: 230.728
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "868"
passage {
segment {
id: "868_1_-1"
start_s: 0
end_s: 36.4701
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "458"
passage {
segment {
id: "458_1_-1"
start_s: 0
end_s: 29.5715
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10735"
passage {
segment {
id: "10735_1_-1"
start_s: 0
end_s: 4.38651
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10780"
passage {
segment {
id: "10780_1_-1"
start_s: 0
end_s: 23.879
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "457"
passage {
segment {
id: "457_1_-1"
start_s: 0
end_s: 117.537
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "455"
passage {
segment {
id: "455_1_-1"
start_s: 0
end_s: 62.4772
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "451"
passage {
segment {
id: "451_1_-1"
start_s: 0
end_s: 317.813
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "494"
passage {
segment {
id: "494_1_-1"
start_s: 0
end_s: 33.7078
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "452"
passage {
segment {
id: "452_1_-1"
start_s: 0
end_s: 164.511
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "475"
passage {
segment {
id: "475_1_-1"
start_s: 0
end_s: 30.7505
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "476"
passage {
segment {
id: "476_1_-1"
start_s: 0
end_s: 24.6543
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "698"
passage {
segment {
id: "698_1_-1"
start_s: 0
end_s: 13.9724
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1263"
passage {
segment {
id: "1263_1_-1"
start_s: 0
end_s: 15.0457
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1712a"
passage {
segment {
id: "1712a_1_-1"
start_s: 0
end_s: 29.0361
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "518"
passage {
segment {
id: "518_1_-1"
start_s: 0
end_s: 47.6247
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1872"
passage {
segment {
id: "1872_1_-1"
start_s: 0
end_s: 6.87984
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11203"
passage {
segment {
id: "11203_1_-1"
start_s: 0
end_s: 8.99068
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1871"
passage {
segment {
id: "1871_1_-1"
start_s: 0
end_s: 10.8403
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11222"
passage {
segment {
id: "11222_1_-1"
start_s: 0
end_s: 1.58273
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "597"
passage {
segment {
id: "597_1_-1"
start_s: 0
end_s: 15.1954
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "519"
passage {
segment {
id: "519_1_-2"
start_s: 0
end_s: 3.37727
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2332"
passage {
segment {
id: "2332_1_-2"
start_s: 0
end_s: 22.2108
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "515"
passage {
segment {
id: "515_1_-2"
start_s: 0
end_s: 24.8906
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "682"
passage {
segment {
id: "682_1_-1"
start_s: 0
end_s: 54.2269
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "102"
passage {
segment {
id: "102_1_-1"
start_s: 0
end_s: 5.90927
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "103"
passage {
segment {
id: "103_1_-1"
start_s: 0
end_s: 23.1426
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "105"
passage {
segment {
id: "105_1_-1"
start_s: 0
end_s: 3.72415
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2147"
passage {
segment {
id: "2147_1_-1"
start_s: 0
end_s: 11.9742
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10866"
passage {
segment {
id: "10866_1_-1"
start_s: 0
end_s: 26.5863
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1851"
passage {
segment {
id: "1851_1_-1"
start_s: 0
end_s: 30.8955
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11027"
passage {
segment {
id: "11027_1_-1"
start_s: 0
end_s: 45.3613
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11055"
passage {
segment {
id: "11055_1_-1"
start_s: 0
end_s: 13.0003
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1862"
passage {
segment {
id: "1862_1_-1"
start_s: 0
end_s: 15.4008
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1861"
passage {
segment {
id: "1861_1_-1"
start_s: 0
end_s: 23.3489
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10192"
passage {
segment {
id: "10192_1_-1"
start_s: 0
end_s: 3.2845
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1860"
passage {
segment {
id: "1860_1_-1"
start_s: 0
end_s: 11.0053
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1859"
passage {
segment {
id: "1859_1_-1"
start_s: 0
end_s: 5.72639
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10184"
passage {
segment {
id: "10184_1_-1"
start_s: 0
end_s: 29.3155
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10856"
passage {
segment {
id: "10856_1_-1"
start_s: 0
end_s: 36.7952
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1856"
passage {
segment {
id: "1856_1_-1"
start_s: 0
end_s: 21.2457
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10199"
passage {
segment {
id: "10199_1_-1"
start_s: 0
end_s: 18.0019
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1855"
passage {
segment {
id: "1855_1_-1"
start_s: 0
end_s: 27.8647
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10307"
passage {
segment {
id: "10307_1_-1"
start_s: 0
end_s: 17.5194
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10308"
passage {
segment {
id: "10308_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1854"
passage {
segment {
id: "1854_1_-1"
start_s: 0
end_s: 17.9815
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10216"
passage {
segment {
id: "10216_1_-1"
start_s: 0
end_s: 19.7482
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1853"
passage {
segment {
id: "1853_1_-1"
start_s: 0
end_s: 20.7487
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1852"
passage {
segment {
id: "1852_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1850"
passage {
segment {
id: "1850_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1270"
passage {
segment {
id: "1270_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11056"
passage {
segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1848"
passage {
segment {
id: "1848_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1847"
passage {
segment {
id: "1847_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "695"
passage {
segment {
id: "695_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1844"
passage {
segment {
id: "1844_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1842"
passage {
segment {
id: "1842_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "687"
passage {
segment {
id: "687_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10268"
passage {
segment {
id: "10268_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10269"
passage {
segment {
id: "10269_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1838"
passage {
segment {
id: "1838_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11187"
passage {
segment {
id: "11187_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1837"
passage {
segment {
id: "1837_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2193"
passage {
segment {
id: "2193_1_-1"
start_s: 0
end_s: 11.6358
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "116"
passage {
segment {
id: "116_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11049"
passage {
segment {
id: "11049_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "115"
passage {
segment {
id: "115_1_-1"
start_s: 0
end_s: 16.5147
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10825a"
passage {
segment {
id: "10825a_1_-1"
start_s: 0
end_s: 47.5674
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3143"
passage {
segment {
id: "3143_1_-1"
start_s: 0
end_s: 592.354
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1770"
passage {
segment {
id: "1770_1_-1"
start_s: 0
end_s: 30.9261
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "42"
passage {
segment {
id: "42_1_-1"
start_s: 0
end_s: 16.1159
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2414"
passage {
segment {
id: "2414_1_-1"
start_s: 0
end_s: 10.7096
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10761a"
passage {
segment {
id: "10761a_1_-1"
start_s: 0
end_s: 24.3978
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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road {
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road {
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road {
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road {
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road {
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}
measurement {
distance: 3085.2126430342146
}
routing_request {
header {
timestamp_sec: 1522096299.2993808
module_name: "routing"
sequence_num: 1
}
waypoint {
id: "2972_1_-1"
s: 34.393144893029579
pose {
x: 586415
y: 4140270
}
}
waypoint {
id: "1422_1_-3"
s: 5.5451479272423931
pose {
x: 587169.10245
y: 4141539.780228
}
}
}
map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/300_routing.pb.txt
|
header {
timestamp_sec: 1522102176.3444228
module_name: "routing"
sequence_num: 1578
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road {
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}
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}
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}
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}
road {
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}
road {
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}
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}
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}
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road {
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}
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}
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/300_traffic_light.pb.txt
|
traffic_light {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/7_chassis.pb.txt
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chassis_gps {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/13_prediction.pb.txt
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perception_error_code: OK
start_timestamp: 1518741713.5966623
end_timestamp: 1518741713.598819
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/8_chassis.pb.txt
|
engine_started: true
engine_rpm: 1642
speed_mps: 15.347222
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 24.373236
brake_percentage: 13.876554
steering_percentage: -0.42553192
steering_torque_nm: -0.125
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1532019646.3993268
module_name: "chassis"
sequence_num: 101642
}
signal {
turn_signal: TURN_NONE
high_beam: false
horn: false
}
chassis_gps {
latitude: 37.409472
longitude: -122.00440533333332
gps_valid: true
year: 18
month: 7
day: 19
hours: 17
minutes: 0
seconds: 46
compass_direction: 180
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 194.62
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 16
gps_speed: 15.19936
}
engage_advice {
advice: READY_TO_ENGAGE
}
wheel_speed {
is_wheel_spd_rr_valid: true
wheel_direction_rr: FORWARD
wheel_spd_rr: 46.64
is_wheel_spd_rl_valid: true
wheel_direction_rl: FORWARD
wheel_spd_rl: 46.6
is_wheel_spd_fr_valid: true
wheel_direction_fr: FORWARD
wheel_spd_fr: 46.72
is_wheel_spd_fl_valid: true
wheel_direction_fl: FORWARD
wheel_spd_fl: 46.76
}
surround {
cross_traffic_alert_left: false
cross_traffic_alert_left_enabled: true
blind_spot_left_alert: false
blind_spot_left_alert_enabled: true
cross_traffic_alert_right: false
blind_spot_right_alert: false
blind_spot_right_alert_enabled: true
sonar00: 100
sonar01: 100
sonar02: 100
sonar03: 100
sonar04: 100
sonar05: 100
sonar06: 100
sonar07: 100
sonar08: 100
sonar09: 100
sonar10: 100
sonar11: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
sonar_range: 100
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/201_localization.pb.txt
|
header {
timestamp_sec: 1517275936.5507183
}
pose {
position {
x: 586262.87584198324
y: 4141309.2453026273
z: -29.812720672792121
}
orientation {
qx: 0.0018211151755702446
qy: -0.016126133639567979
qz: 0.99153903497889651
qw: 0.12879042459156212
}
linear_velocity {
x: 0.0091276773281013489
y: -0.015665921233800523
z: -0.0018675837831122761
}
linear_acceleration {
x: 0.094965451507621451
y: 0.14806275446705974
z: -0.0096286074566940272
}
angular_velocity {
x: 0.00066710419426267481
y: -0.0019654453272764686
z: 0.0013440361094215192
}
heading: -1.8292512711167515
linear_acceleration_vrf {
x: 0.022016465663909912
y: -0.47583132982254028
z: 9.7803585231304169
}
angular_velocity_vrf {
x: -0.0011363947639747296
y: 0.0016864519617791817
z: 0.0014067420250233008
}
euler_angles {
x: -0.031515514334707652
y: -0.0077691328215844634
z: 2.8831377092679382
}
}
uncertainty {
position_std_dev {
x: 0.0044829701493706263
y: 0.015352710712715854
z: 0.012144296212878308
}
orientation_std_dev {
x: 0.06949162254884958
y: 0.076189023968229616
z: 0.050027478005257385
}
linear_velocity_std_dev {
x: 0.00932036602809537
y: 0.015526972446305664
z: 0.006064775237258257
}
}
measurement_time: 1517275936.5225761
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_0.pb.txt
|
header {
timestamp_sec: 1517275936.5507183
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
stop {
reason_code: STOP_REASON_CROSSWALK
reason: "stop by CW_2832"
stop_point {
x: 586261.32915069442
y: 4141304.56869029
}
stop_heading: -1.7978120795609951
change_lane_type: FORWARD
}
}
object_decision {
decision {
id: "11511_0"
perception_id: 11511
object_decision {
yield {
distance_s: -5
fence_point {
x: 586260.39542419114
y: 4141284.1379236
z: 0
}
fence_heading: -1.3175529905840133
}
}
}
decision {
id: "11511_1"
perception_id: 11511
object_decision {
yield {
distance_s: -5
fence_point {
x: 586260.3467864691
y: 4141284.3319181586
z: 0
}
fence_heading: -1.3341987005216187
}
}
}
decision {
id: "CW_2832"
perception_id: -1198750198
object_decision {
stop {
reason_code: STOP_REASON_CROSSWALK
distance_s: -1
stop_point {
x: 586261.32915069442
y: 4141304.56869029
z: 0
}
stop_heading: -1.7978120795609951
wait_for_obstacle: "11652"
}
}
}
decision {
id: "TL_2516"
perception_id: -191858794
object_decision {
stop {
reason_code: STOP_REASON_SIGNAL
distance_s: -1
stop_point {
x: 586261.31514344038
y: 4141304.5064982041
z: 0
}
stop_heading: -1.7940426778582335
}
}
}
}
vehicle_signal {
turn_signal: TURN_LEFT
}
}
routing_header {
timestamp_sec: 1532459103.387177
module_name: "routing"
sequence_num: 3
}
right_of_way_status: UNPROTECTED
lane_id {
id: "188_1_-1"
}
lane_id {
id: "2726_1_-1"
}
lane_id {
id: "382_1_-1"
}
lane_id {
id: "10898_1_-1"
}
lane_id {
id: "300_1_-1"
}
lane_id {
id: "10771_1_-1"
}
lane_id {
id: "201_1_-1"
}
lane_id {
id: "2811_1_-1"
}
lane_id {
id: "2813_1_-1"
}
engage_advice {
advice: READY_TO_ENGAGE
}
trajectory_type: SPEED_FALLBACK
replan_reason: "replan for no previous trajectory."
target_lane_id {
id: "188_1_-1"
}
target_lane_id {
id: "2726_1_-1"
}
target_lane_id {
id: "382_1_-1"
}
target_lane_id {
id: "10898_1_-1"
}
target_lane_id {
id: "300_1_-1"
}
target_lane_id {
id: "10771_1_-1"
}
target_lane_id {
id: "201_1_-1"
}
target_lane_id {
id: "2811_1_-1"
}
target_lane_id {
id: "2813_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/1_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 8.9833336
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 14.995041
brake_percentage: 23.024338
steering_percentage: 2.7446809
steering_torque_nm: 0
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1515787931.3517847
module_name: "chassis"
sequence_num: 180703
}
signal {
turn_signal: TURN_LEFT
horn: false
}
chassis_gps {
latitude: 37.404450666666662
longitude: -122.02379733333332
gps_valid: true
year: 18
month: 1
day: 12
hours: 20
minutes: 12
seconds: 11
compass_direction: 180
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 183.46
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 18
gps_speed: 9.83488
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/200_localization.pb.txt
|
header {
timestamp_sec: 1517275942.8603508
}
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z: -29.813623707458742
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orientation {
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qy: -0.015813059860116069
qz: 0.9917373924960412
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linear_velocity {
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z: -0.00042540921945155834
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linear_acceleration {
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angular_velocity {
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heading: -1.8262257834470113
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angular_velocity_vrf {
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euler_angles {
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}
uncertainty {
position_std_dev {
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y: 0.003489564262622342
z: 0.012504098302510258
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orientation_std_dev {
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y: 0.07661969920254913
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linear_velocity_std_dev {
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y: 0.0067794600488748132
z: 0.0061511203310654072
}
}
measurement_time: 1517275942.8325779
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/300_chassis.pb.txt
|
engine_started: true
speed_mps: 0.10748727
throttle_percentage: 0
brake_percentage: 0
driving_mode: COMPLETE_AUTO_DRIVE
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1517713744.0523312
module_name: "SimControl"
sequence_num: 183843
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/12_prediction.pb.txt
|
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perception_error_code: OK
start_timestamp: 1518741702.3874259
end_timestamp: 1518741702.3934536
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/6_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 0
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 0
brake_percentage: 0
steering_percentage: 0
steering_torque_nm: 0
parking_brake: false
driving_mode: COMPLETE_MANUAL
error_code: NO_ERROR
gear_location: GEAR_NONE
header {
timestamp_sec: 1516822637.1490912
module_name: "chassis"
sequence_num: 62131
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
gps_valid: false
}
engage_advice {
advice: DISALLOW_ENGAGE
reason: "CANBUS not ready, firmware error or emergency button pressed!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/8_routing.pb.txt
|
header {
timestamp_sec: 1532054516.6207221
module_name: "routing"
sequence_num: 1
}
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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}
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road {
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road {
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road {
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road {
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road {
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road {
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}
road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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}
road {
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}
road {
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}
road {
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}
road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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}
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}
road {
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}
road {
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}
road {
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road {
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}
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}
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}
road {
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}
road {
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road {
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}
road {
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}
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road {
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}
road {
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}
road {
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road {
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road {
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}
road {
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}
road {
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road {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/14_prediction.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/4_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 0
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 0
brake_percentage: 0
steering_percentage: 0
steering_torque_nm: 0
parking_brake: false
driving_mode: COMPLETE_MANUAL
error_code: NO_ERROR
gear_location: GEAR_NONE
header {
timestamp_sec: 1516822373.6996479
module_name: "chassis"
sequence_num: 35786
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
gps_valid: false
}
engage_advice {
advice: DISALLOW_ENGAGE
reason: "CANBUS not ready, firmware error or emergency button pressed!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/601_routing.pb.txt
|
header {
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measurement {
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routing_request {
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map_version: "1.500000"
status {
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msg: "Success!"
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/200_routing.pb.txt
|
header {
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routing_request {
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waypoint {
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status {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/2_routing.pb.txt
|
header {
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can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1712a"
passage {
segment {
id: "1712a_1_-1"
start_s: 0
end_s: 29.0361
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "518"
passage {
segment {
id: "518_1_-1"
start_s: 0
end_s: 47.6247
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1872"
passage {
segment {
id: "1872_1_-1"
start_s: 0
end_s: 6.87984
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11203"
passage {
segment {
id: "11203_1_-1"
start_s: 0
end_s: 8.99068
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1871"
passage {
segment {
id: "1871_1_-1"
start_s: 0
end_s: 10.8403
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11222"
passage {
segment {
id: "11222_1_-1"
start_s: 0
end_s: 1.58273
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "597"
passage {
segment {
id: "597_1_-1"
start_s: 0
end_s: 15.1954
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "519"
passage {
segment {
id: "519_1_-2"
start_s: 0
end_s: 3.37727
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2332"
passage {
segment {
id: "2332_1_-2"
start_s: 0
end_s: 22.2108
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "515"
passage {
segment {
id: "515_1_-2"
start_s: 0
end_s: 24.8906
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "682"
passage {
segment {
id: "682_1_-1"
start_s: 0
end_s: 54.2269
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "102"
passage {
segment {
id: "102_1_-1"
start_s: 0
end_s: 5.90927
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "103"
passage {
segment {
id: "103_1_-1"
start_s: 0
end_s: 23.1426
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "105"
passage {
segment {
id: "105_1_-1"
start_s: 0
end_s: 3.72415
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2147"
passage {
segment {
id: "2147_1_-1"
start_s: 0
end_s: 11.9742
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10866"
passage {
segment {
id: "10866_1_-1"
start_s: 0
end_s: 26.5863
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1851"
passage {
segment {
id: "1851_1_-1"
start_s: 0
end_s: 30.8955
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11027"
passage {
segment {
id: "11027_1_-1"
start_s: 0
end_s: 45.3613
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11055"
passage {
segment {
id: "11055_1_-1"
start_s: 0
end_s: 13.0003
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1862"
passage {
segment {
id: "1862_1_-1"
start_s: 0
end_s: 15.4008
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1861"
passage {
segment {
id: "1861_1_-1"
start_s: 0
end_s: 23.3489
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10192"
passage {
segment {
id: "10192_1_-1"
start_s: 0
end_s: 3.2845
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1860"
passage {
segment {
id: "1860_1_-1"
start_s: 0
end_s: 11.0053
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1859"
passage {
segment {
id: "1859_1_-1"
start_s: 0
end_s: 5.72639
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10184"
passage {
segment {
id: "10184_1_-1"
start_s: 0
end_s: 29.3155
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10856"
passage {
segment {
id: "10856_1_-1"
start_s: 0
end_s: 36.7952
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1856"
passage {
segment {
id: "1856_1_-1"
start_s: 0
end_s: 21.2457
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10199"
passage {
segment {
id: "10199_1_-1"
start_s: 0
end_s: 18.0019
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1855"
passage {
segment {
id: "1855_1_-1"
start_s: 0
end_s: 27.8647
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10307"
passage {
segment {
id: "10307_1_-1"
start_s: 0
end_s: 17.5194
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10308"
passage {
segment {
id: "10308_1_-1"
start_s: 0
end_s: 15.6473
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1854"
passage {
segment {
id: "1854_1_-1"
start_s: 0
end_s: 17.9815
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10216"
passage {
segment {
id: "10216_1_-1"
start_s: 0
end_s: 19.7482
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1853"
passage {
segment {
id: "1853_1_-1"
start_s: 0
end_s: 20.7487
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1852"
passage {
segment {
id: "1852_1_-1"
start_s: 0
end_s: 24.5329
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1850"
passage {
segment {
id: "1850_1_-1"
start_s: 0
end_s: 40.4792
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1270"
passage {
segment {
id: "1270_1_-1"
start_s: 0
end_s: 5.5177
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11056"
passage {
segment {
id: "11056_1_-1"
start_s: 0
end_s: 8.34797
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1848"
passage {
segment {
id: "1848_1_-1"
start_s: 0
end_s: 15.4382
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1847"
passage {
segment {
id: "1847_1_-1"
start_s: 0
end_s: 16.0796
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "695"
passage {
segment {
id: "695_1_-1"
start_s: 0
end_s: 11.7727
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1844"
passage {
segment {
id: "1844_1_-1"
start_s: 0
end_s: 17.847
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1842"
passage {
segment {
id: "1842_1_-1"
start_s: 0
end_s: 14.6566
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "687"
passage {
segment {
id: "687_1_-1"
start_s: 0
end_s: 16.2611
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10268"
passage {
segment {
id: "10268_1_-1"
start_s: 0
end_s: 20.6385
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10269"
passage {
segment {
id: "10269_1_-1"
start_s: 0
end_s: 36.7768
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1838"
passage {
segment {
id: "1838_1_-1"
start_s: 0
end_s: 12.5749
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11187"
passage {
segment {
id: "11187_1_-1"
start_s: 0
end_s: 3.39131
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1837"
passage {
segment {
id: "1837_1_-1"
start_s: 0
end_s: 7.04383
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2193"
passage {
segment {
id: "2193_1_-1"
start_s: 0
end_s: 11.6358
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "116"
passage {
segment {
id: "116_1_-1"
start_s: 0
end_s: 17.4694
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "11049"
passage {
segment {
id: "11049_1_-1"
start_s: 0
end_s: 21.558
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "115"
passage {
segment {
id: "115_1_-1"
start_s: 0
end_s: 16.5147
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10825a"
passage {
segment {
id: "10825a_1_-1"
start_s: 0
end_s: 47.5674
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3143"
passage {
segment {
id: "3143_1_-1"
start_s: 0
end_s: 592.354
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1770"
passage {
segment {
id: "1770_1_-1"
start_s: 0
end_s: 30.9261
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "42"
passage {
segment {
id: "42_1_-1"
start_s: 0
end_s: 16.1159
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2414"
passage {
segment {
id: "2414_1_-1"
start_s: 0
end_s: 10.7096
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10761a"
passage {
segment {
id: "10761a_1_-1"
start_s: 0
end_s: 24.3978
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "162"
passage {
segment {
id: "162_1_-3"
start_s: 0
end_s: 5.36246
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "9760"
passage {
segment {
id: "9760_1_-3"
start_s: 0
end_s: 4.31319
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1771"
passage {
segment {
id: "1771_1_-3"
start_s: 0
end_s: 45.6703
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1415"
passage {
segment {
id: "1415_1_-3"
start_s: 0
end_s: 12.6104
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1416"
passage {
segment {
id: "1416_1_-3"
start_s: 0
end_s: 37.2856
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1422"
passage {
segment {
id: "1422_1_-3"
start_s: 0
end_s: 5.5451479272423931
}
can_exit: true
change_lane_type: FORWARD
}
}
measurement {
distance: 3085.2126430342146
}
routing_request {
header {
timestamp_sec: 1522096757.8978779
module_name: "routing"
sequence_num: 2
}
waypoint {
id: "2972_1_-1"
s: 34.393144893029579
pose {
x: 586415
y: 4140270
}
}
waypoint {
id: "1422_1_-3"
s: 5.5451479272423931
pose {
x: 587169.10245
y: 4141539.780228
}
}
}
map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/3_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 0
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 0
brake_percentage: 0
steering_percentage: 0
steering_torque_nm: 0
parking_brake: false
driving_mode: COMPLETE_MANUAL
error_code: NO_ERROR
gear_location: GEAR_NONE
header {
timestamp_sec: 1516822372.7386048
module_name: "chassis"
sequence_num: 35690
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
gps_valid: false
}
engage_advice {
advice: DISALLOW_ENGAGE
reason: "CANBUS not ready, firmware error or emergency button pressed!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/400_localization.pb.txt
|
header {
timestamp_sec: 1518648377.318433
}
pose {
position {
x: 587484.83465911169
y: 4141516.1493382631
z: -31.054244682315154
}
orientation {
qx: -0.040942574445715293
qy: -0.014721659937242887
qz: 0.64633749625859693
qw: 0.76181022522450914
}
linear_velocity {
x: -15.653488587347258
y: 2.7232072309594466
z: 0.0389828765207829
}
linear_acceleration {
x: -0.081311947742334745
y: -0.33353668174305978
z: -0.19380108962625364
}
angular_velocity {
x: 0.026114438606160528
y: -0.021704208479890529
z: -0.0032407417076273865
}
heading: 2.9792000682148903
linear_acceleration_vrf {
x: -0.635143369436264
y: -0.75582414865493774
z: 9.56149771809578
}
angular_velocity_vrf {
x: -0.017016663098035602
y: -0.028918964590953212
z: -0.0061372339261415885
}
euler_angles {
x: -0.08150146416476374
y: 0.030601559067132196
z: 1.4084037414199937
}
}
uncertainty {
position_std_dev {
x: 0.040671955381023875
y: 0.018467040459102767
z: 0.01216545095810509
}
orientation_std_dev {
x: 0.076589186909105891
y: 0.076741187330964841
z: 0.05053614958913609
}
linear_velocity_std_dev {
x: 0.027532722769003766
y: 0.01751289443884721
z: 0.0061467432555478117
}
}
measurement_time: 1518648377.318433
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_01_0.pb.txt
|
header {
timestamp_sec: 1527023404.3311765
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1533844120.2057884
module_name: "routing"
sequence_num: 1
}
right_of_way_status: UNPROTECTED
lane_id {
id: "2900_1_-1"
}
lane_id {
id: "11043_1_-1"
}
lane_id {
id: "2907_1_-1"
}
lane_id {
id: "2906_1_-1"
}
lane_id {
id: "10590_1_-1"
}
lane_id {
id: "10589_1_-1"
}
lane_id {
id: "2912_1_-1"
}
lane_id {
id: "2911_1_-1"
}
lane_id {
id: "2914_1_-1"
}
lane_id {
id: "2919_1_-1"
}
lane_id {
id: "2918_1_-1"
}
lane_id {
id: "338_1_-1"
}
lane_id {
id: "10557_1_-1"
}
lane_id {
id: "11044_1_-1"
}
lane_id {
id: "373_1_-1"
}
lane_id {
id: "2923_1_-1"
}
lane_id {
id: "2922_1_-1"
}
engage_advice {
advice: READY_TO_ENGAGE
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
target_lane_id {
id: "2900_1_-1"
}
target_lane_id {
id: "11043_1_-1"
}
target_lane_id {
id: "2907_1_-1"
}
target_lane_id {
id: "2906_1_-1"
}
target_lane_id {
id: "10590_1_-1"
}
target_lane_id {
id: "10589_1_-1"
}
target_lane_id {
id: "2912_1_-1"
}
target_lane_id {
id: "2911_1_-1"
}
target_lane_id {
id: "2914_1_-1"
}
target_lane_id {
id: "2919_1_-1"
}
target_lane_id {
id: "2918_1_-1"
}
target_lane_id {
id: "338_1_-1"
}
target_lane_id {
id: "10557_1_-1"
}
target_lane_id {
id: "11044_1_-1"
}
target_lane_id {
id: "373_1_-1"
}
target_lane_id {
id: "2923_1_-1"
}
target_lane_id {
id: "2922_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/600_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 10.913889
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 20.981155
brake_percentage: 13.865873
steering_percentage: -0.65957445
steering_torque_nm: -0.125
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1526490044.8235667
module_name: "chassis"
sequence_num: 135914
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.413503999999996
longitude: -122.01501866666665
gps_valid: true
year: 18
month: 5
day: 16
hours: 17
minutes: 0
seconds: 44
compass_direction: 270
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 284.55
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 18
gps_speed: 10.72896
}
engage_advice {
advice: READY_TO_ENGAGE
}
wheel_speed {
is_wheel_spd_rr_valid: true
wheel_direction_rr: FORWARD
wheel_spd_rr: 33.08
is_wheel_spd_rl_valid: true
wheel_direction_rl: FORWARD
wheel_spd_rl: 33.12
is_wheel_spd_fr_valid: true
wheel_direction_fr: FORWARD
wheel_spd_fr: 33.08
is_wheel_spd_fl_valid: true
wheel_direction_fl: FORWARD
wheel_spd_fl: 33.32
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/201_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 0
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.263599
brake_percentage: 22.526894
steering_percentage: 0.65957445
steering_torque_nm: -0.0625
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1517275936.5596015
module_name: "chassis"
sequence_num: 198755
}
signal {
turn_signal: TURN_LEFT
horn: false
}
chassis_gps {
latitude: 37.414565333333329
longitude: -122.02523733333332
gps_valid: true
year: 18
month: 1
day: 30
hours: 1
minutes: 32
seconds: 15
compass_direction: 180
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: 6
heading: 195.79
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 18
gps_speed: 0.44704
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/5_routing.pb.txt
|
header {
timestamp_sec: 1522098578.2984788
module_name: "routing"
sequence_num: 541
}
road {
id: "2996"
passage {
segment {
id: "2996_1_-1"
start_s: 7.4292829288586688
end_s: 10.1259
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2997"
passage {
segment {
id: "2997_1_-1"
start_s: 0
end_s: 16.1971
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3001"
passage {
segment {
id: "3001_1_-1"
start_s: 0
end_s: 58.9623
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3016"
passage {
segment {
id: "3016_1_-1"
start_s: 0
end_s: 33.2133
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3017"
passage {
segment {
id: "3017_1_-1"
start_s: 0
end_s: 24.0767
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3019"
passage {
segment {
id: "3019_1_-1"
start_s: 0
end_s: 10.5034
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3020"
passage {
segment {
id: "3020_1_-1"
start_s: 0
end_s: 2.41471
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "407"
passage {
segment {
id: "407_1_-1"
start_s: 0
end_s: 32.7223
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "489"
passage {
segment {
id: "489_1_-1"
start_s: 0
end_s: 41.6593
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "771"
passage {
segment {
id: "771_1_-1"
start_s: 0
end_s: 49.4647
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3058"
passage {
segment {
id: "3058_1_-1"
start_s: 0
end_s: 3.99048
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3057"
passage {
segment {
id: "3057_1_-1"
start_s: 0
end_s: 47.2603
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3022"
passage {
segment {
id: "3022_1_-1"
start_s: 0
end_s: 27.7554
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "772"
passage {
segment {
id: "772_1_-1"
start_s: 0
end_s: 3.57032
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3023"
passage {
segment {
id: "3023_1_-1"
start_s: 0
end_s: 5.10993
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "685"
passage {
segment {
id: "685_1_-1"
start_s: 0
end_s: 7.56306
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2099a"
passage {
segment {
id: "2099a_1_-1"
start_s: 0
end_s: 21.9196
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "424"
passage {
segment {
id: "424_1_-1"
start_s: 0
end_s: 18.7917
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "408"
passage {
segment {
id: "408_1_-1"
start_s: 0
end_s: 71.5779
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "477"
passage {
segment {
id: "477_1_-1"
start_s: 0
end_s: 31.8532
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "478"
passage {
segment {
id: "478_1_-1"
start_s: 0
end_s: 19.8648
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "479"
passage {
segment {
id: "479_1_-1"
start_s: 0
end_s: 24.2098
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "433"
passage {
segment {
id: "433_1_-1"
start_s: 0
end_s: 70.3184
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "434"
passage {
segment {
id: "434_1_-1"
start_s: 0
end_s: 19.4248
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2097a"
passage {
segment {
id: "2097a_1_-1"
start_s: 0
end_s: 18.0291
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "766"
passage {
segment {
id: "766_1_-1"
start_s: 0
end_s: 9.10666
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "767"
passage {
segment {
id: "767_1_-1"
start_s: 0
end_s: 40.3538
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3061"
passage {
segment {
id: "3061_1_-1"
start_s: 0
end_s: 9.42042
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3060"
passage {
segment {
id: "3060_1_-1"
start_s: 0
end_s: 54.0314
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3055"
passage {
segment {
id: "3055_1_-1"
start_s: 0
end_s: 11.0449
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3054"
passage {
segment {
id: "3054_1_-1"
start_s: 0
end_s: 12.9005
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "768"
passage {
segment {
id: "768_1_-1"
start_s: 0
end_s: 41.871
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "769"
passage {
segment {
id: "769_1_-1"
start_s: 0
end_s: 41.4578
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3051"
passage {
segment {
id: "3051_1_-1"
start_s: 0
end_s: 33.3139
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3050"
passage {
segment {
id: "3050_1_-1"
start_s: 0
end_s: 31.7523
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3048"
passage {
segment {
id: "3048_1_-1"
start_s: 0
end_s: 11.7423
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3047"
passage {
segment {
id: "3047_1_-1"
start_s: 0
end_s: 117.58
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3044"
passage {
segment {
id: "3044_1_-1"
start_s: 0
end_s: 10.7354
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3045"
passage {
segment {
id: "3045_1_-1"
start_s: 0
end_s: 73.6739
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3042"
passage {
segment {
id: "3042_1_-1"
start_s: 0
end_s: 8.82801
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "3041"
passage {
segment {
id: "3041_1_-1"
start_s: 0
end_s: 11.8472
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "770"
passage {
segment {
id: "770_1_-1"
start_s: 0
end_s: 19.8938
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "743"
passage {
segment {
id: "743_1_-1"
start_s: 0
end_s: 28.486
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1706a"
passage {
segment {
id: "1706a_1_-1"
start_s: 0
end_s: 26.124
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "867"
passage {
segment {
id: "867_1_-1"
start_s: 0
end_s: 36.5162
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "446"
passage {
segment {
id: "446_1_-1"
start_s: 0
end_s: 50.5431
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "447"
passage {
segment {
id: "447_1_-1"
start_s: 0
end_s: 43.8175
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2982"
passage {
segment {
id: "2982_1_-1"
start_s: 0
end_s: 12.5514
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "2981"
passage {
segment {
id: "2981_1_-1"
start_s: 0
end_s: 15.998990702922661
}
can_exit: true
change_lane_type: FORWARD
}
}
measurement {
distance: 1416.7396977740641
}
routing_request {
header {
timestamp_sec: 1522098578.2964153
module_name: "routing"
sequence_num: 2
}
waypoint {
id: "2996_1_-1"
s: 7.4292829288586688
pose {
x: 586759.0151256267
y: 4140424.9837116566
}
}
waypoint {
id: "2981_1_-1"
s: 15.998990702922661
pose {
x: 586530.04475634766
y: 4140162.67115043
}
}
}
map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/8_prediction.pb.txt
|
header {
timestamp_sec: 1532019646.2902167
module_name: "prediction"
sequence_num: 8253
}
perception_error_code: OK
start_timestamp: 1532019646.2889967
end_timestamp: 1532019646.290216
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_01_0.pb.txt
|
header {
timestamp_sec: 1515787931.3446462
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
stop {
reason_code: STOP_REASON_STOP_SIGN
reason: "stop by SS_1017"
stop_point {
x: 586395.27298821311
y: 4140150.4145827373
}
stop_heading: -1.5434982628389444
change_lane_type: FORWARD
}
}
object_decision {
decision {
id: "SS_1017"
perception_id: -911148558
object_decision {
stop {
reason_code: STOP_REASON_STOP_SIGN
distance_s: -1
stop_point {
x: 586395.27298821311
y: 4140150.4145827373
z: 0
}
stop_heading: -1.5434982628389444
}
}
}
}
vehicle_signal {
turn_signal: TURN_LEFT
}
}
routing_header {
timestamp_sec: 1522096299.304265
module_name: "routing"
sequence_num: 1
}
right_of_way_status: UNPROTECTED
lane_id {
id: "2972_1_-1"
}
lane_id {
id: "2974_1_-1"
}
lane_id {
id: "2975_1_-1"
}
lane_id {
id: "11181_1_-1"
}
lane_id {
id: "11180_1_-1"
}
lane_id {
id: "812_1_-1"
}
lane_id {
id: "204_1_-1"
}
lane_id {
id: "11042_1_-1"
}
lane_id {
id: "11041_1_-1"
}
lane_id {
id: "1697a_1_-1"
}
lane_id {
id: "368_1_-1"
}
lane_id {
id: "449_1_-1"
}
engage_advice {
advice: READY_TO_ENGAGE
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
target_lane_id {
id: "2972_1_-1"
}
target_lane_id {
id: "2974_1_-1"
}
target_lane_id {
id: "2975_1_-1"
}
target_lane_id {
id: "11181_1_-1"
}
target_lane_id {
id: "11180_1_-1"
}
target_lane_id {
id: "812_1_-1"
}
target_lane_id {
id: "204_1_-1"
}
target_lane_id {
id: "11042_1_-1"
}
target_lane_id {
id: "11041_1_-1"
}
target_lane_id {
id: "1697a_1_-1"
}
target_lane_id {
id: "368_1_-1"
}
target_lane_id {
id: "449_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/200_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 0
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.275806
brake_percentage: 26.094454
steering_percentage: 0.65957445
steering_torque_nm: -0.0625
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1517275942.8579326
module_name: "chassis"
sequence_num: 199385
}
signal {
turn_signal: TURN_LEFT
horn: false
}
chassis_gps {
latitude: 37.414565333333329
longitude: -122.02523733333332
gps_valid: true
year: 18
month: 1
day: 30
hours: 1
minutes: 32
seconds: 21
compass_direction: 180
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: 6
heading: 195.74
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 18
gps_speed: 0
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/601_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 11.163889
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 20.323492
brake_percentage: 13.839932
steering_percentage: -0.25531915
steering_torque_nm: -0.3125
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1526490041.9033561
module_name: "chassis"
sequence_num: 135622
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.413432
longitude: -122.01465599999999
gps_valid: true
year: 18
month: 5
day: 16
hours: 17
minutes: 0
seconds: 41
compass_direction: 270
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 284.58
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 18
gps_speed: 10.72896
}
engage_advice {
advice: READY_TO_ENGAGE
}
wheel_speed {
is_wheel_spd_rr_valid: true
wheel_direction_rr: FORWARD
wheel_spd_rr: 33.88
is_wheel_spd_rl_valid: true
wheel_direction_rl: FORWARD
wheel_spd_rl: 33.76
is_wheel_spd_fr_valid: true
wheel_direction_fr: FORWARD
wheel_spd_fr: 33.88
is_wheel_spd_fl_valid: true
wheel_direction_fl: FORWARD
wheel_spd_fl: 34.12
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/2_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 0.1
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.190356
brake_percentage: 14.560159
steering_percentage: 1.4042553
steering_torque_nm: 0.9375
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1515787939.18268
module_name: "chassis"
sequence_num: 181486
}
signal {
turn_signal: TURN_LEFT
horn: false
}
chassis_gps {
latitude: 37.404170666666666
longitude: -122.02380799999999
gps_valid: true
year: 18
month: 1
day: 12
hours: 20
minutes: 12
seconds: 19
compass_direction: 180
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 184.61
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 17
gps_speed: 0
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_destination_stop_01_0.pb.txt
|
header {
timestamp_sec: 1526490044.8221955
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
stop {
reason_code: STOP_REASON_DESTINATION
reason: "stop by DEST"
stop_point {
x: 587095.80899340415
y: 4141213.842325462
}
stop_heading: 2.8934583126623985
change_lane_type: FORWARD
}
}
object_decision {
decision {
id: "DEST"
perception_id: -2075886388
object_decision {
stop {
reason_code: STOP_REASON_DESTINATION
distance_s: -0.5
stop_point {
x: 587095.80899340415
y: 4141213.842325462
z: 0
}
stop_heading: 2.8934583126623985
}
}
}
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1527801499.9811609
module_name: "routing"
sequence_num: 5
}
right_of_way_status: UNPROTECTED
lane_id {
id: "2693_1_-1"
}
lane_id {
id: "2691_1_-1"
}
lane_id {
id: "2690_1_-1"
}
lane_id {
id: "2688_1_-1"
}
lane_id {
id: "2687_1_-1"
}
lane_id {
id: "732_1_-1"
}
engage_advice {
advice: KEEP_ENGAGED
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
target_lane_id {
id: "2693_1_-1"
}
target_lane_id {
id: "2691_1_-1"
}
target_lane_id {
id: "2690_1_-1"
}
target_lane_id {
id: "2688_1_-1"
}
target_lane_id {
id: "2687_1_-1"
}
target_lane_id {
id: "732_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_03_1.pb.txt
|
header {
timestamp_sec: 1515787939.1706333
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
stop {
reason_code: STOP_REASON_STOP_SIGN
reason: "stop by SS_1017"
stop_point {
x: 586395.26942692848
y: 4140150.3769826111
}
stop_heading: -1.5424184224071673
change_lane_type: FORWARD
}
}
object_decision {
decision {
id: "SS_1017"
perception_id: -911148558
object_decision {
stop {
reason_code: STOP_REASON_STOP_SIGN
distance_s: -1
stop_point {
x: 586395.26942692848
y: 4140150.3769826111
z: 0
}
stop_heading: -1.5424184224071673
}
}
}
}
vehicle_signal {
turn_signal: TURN_LEFT
}
}
routing_header {
timestamp_sec: 1522096757.9018941
module_name: "routing"
sequence_num: 136
}
right_of_way_status: UNPROTECTED
lane_id {
id: "11181_1_-1"
}
lane_id {
id: "11180_1_-1"
}
lane_id {
id: "812_1_-1"
}
lane_id {
id: "204_1_-1"
}
lane_id {
id: "11042_1_-1"
}
lane_id {
id: "11041_1_-1"
}
lane_id {
id: "1697a_1_-1"
}
lane_id {
id: "368_1_-1"
}
lane_id {
id: "449_1_-1"
}
engage_advice {
advice: READY_TO_ENGAGE
}
trajectory_type: NORMAL
replan_reason: "replan for manual mode."
target_lane_id {
id: "11181_1_-1"
}
target_lane_id {
id: "11180_1_-1"
}
target_lane_id {
id: "812_1_-1"
}
target_lane_id {
id: "204_1_-1"
}
target_lane_id {
id: "11042_1_-1"
}
target_lane_id {
id: "11041_1_-1"
}
target_lane_id {
id: "1697a_1_-1"
}
target_lane_id {
id: "368_1_-1"
}
target_lane_id {
id: "449_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/3_routing.pb.txt
|
header {
timestamp_sec: 1522098262.7042248
module_name: "routing"
sequence_num: 449
}
road {
id: "828"
passage {
segment {
id: "828_1_-1"
start_s: 91.683969660332181
end_s: 188.836
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "459"
passage {
segment {
id: "459_1_-1"
start_s: 0
end_s: 13.4416
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10779"
passage {
segment {
id: "10779_1_-1"
start_s: 0
end_s: 13.6541
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "10778"
passage {
segment {
id: "10778_1_-1"
start_s: 0
end_s: 34.2779
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "867"
passage {
segment {
id: "867_1_-1"
start_s: 0
end_s: 36.5162
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "446"
passage {
segment {
id: "446_1_-1"
start_s: 0
end_s: 50.5431
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "447"
passage {
segment {
id: "447_1_-1"
start_s: 0
end_s: 42.93419337726651
}
can_exit: true
change_lane_type: FORWARD
}
}
measurement {
distance: 288.51912371693436
}
routing_request {
header {
timestamp_sec: 1522098262.70257
module_name: "routing"
sequence_num: 2
}
waypoint {
id: "828_1_-1"
s: 91.683969660332181
pose {
x: 586834.4254698588
y: 4140254.4851285168
}
}
waypoint {
id: "447_1_-1"
s: 42.93419337726651
pose {
x: 586558.11172144406
y: 4140171.5617876737
}
}
}
map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/601_localization.pb.txt
|
header {
timestamp_sec: 1526490041.9019995
}
pose {
position {
x: 587194.30486932141
y: 4141188.5444527585
z: -31.449638819718185
}
orientation {
qx: -0.01674406775346134
qy: -0.004492460959078781
qz: 0.6134619440459842
qw: 0.789533974694516
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linear_velocity {
x: -10.948117896731707
y: 2.8424039008597251
z: 0.049235895096562933
}
linear_acceleration {
x: 0.19411901657060998
y: 0.36917732942877091
z: 0.506049497128048
}
angular_velocity {
x: -0.018145751128262638
y: 0.00186253473963407
z: -0.0059404672878194849
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heading: 2.8921187111717455
linear_acceleration_vrf {
x: 0.26706606149673462
y: -0.42621046304702759
z: 10.302215814590454
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angular_velocity_vrf {
x: -0.0026028238466321305
y: 0.018224448264278569
z: -0.0053964122108006987
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euler_angles {
x: -0.031957367655788146
y: 0.013457072638307723
z: 1.3213223843768487
}
}
uncertainty {
position_std_dev {
x: 0.01169659500592298
y: 0.024976024757450543
z: 0.01226045341333272
}
orientation_std_dev {
x: 0.0640465128880515
y: 0.056944532798882855
z: 0.050132515443317142
}
linear_velocity_std_dev {
x: 0.012926572049808077
y: 0.019353018893467643
z: 0.0059997768470773077
}
}
measurement_time: 1526490041.875123
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/5_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 0
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 0
brake_percentage: 0
steering_percentage: 0
steering_torque_nm: 0
parking_brake: false
driving_mode: COMPLETE_MANUAL
error_code: NO_ERROR
gear_location: GEAR_NONE
header {
timestamp_sec: 1516822636.4989891
module_name: "chassis"
sequence_num: 62066
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
gps_valid: false
}
engage_advice {
advice: DISALLOW_ENGAGE
reason: "CANBUS not ready, firmware error or emergency button pressed!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/201_routing.pb.txt
|
header {
timestamp_sec: 1532459103.387177
module_name: "routing"
sequence_num: 3
}
road {
id: "938"
passage {
segment {
id: "938_1_-1"
start_s: 8.1266693216761325
end_s: 9.84604
}
can_exit: true
change_lane_type: FORWARD
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}
road {
id: "1345a"
passage {
segment {
id: "1345a_1_-1"
start_s: 0
end_s: 43.9978
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "195"
passage {
segment {
id: "195_1_-1"
start_s: 0
end_s: 74.8829
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "241"
passage {
segment {
id: "241_1_-1"
start_s: 0
end_s: 31.4114
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "188"
passage {
segment {
id: "188_1_-1"
start_s: 0
end_s: 6.46255
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can_exit: true
change_lane_type: FORWARD
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}
road {
id: "2726"
passage {
segment {
id: "2726_1_-1"
start_s: 0
end_s: 48.709
}
can_exit: true
change_lane_type: FORWARD
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}
road {
id: "382"
passage {
segment {
id: "382_1_-1"
start_s: 0
end_s: 3.47013
}
can_exit: true
change_lane_type: FORWARD
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}
road {
id: "10898"
passage {
segment {
id: "10898_1_-1"
start_s: 0
end_s: 45.1067
}
can_exit: true
change_lane_type: FORWARD
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}
road {
id: "300"
passage {
segment {
id: "300_1_-1"
start_s: 0
end_s: 7.51243
}
can_exit: true
change_lane_type: FORWARD
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}
road {
id: "10771"
passage {
segment {
id: "10771_1_-1"
start_s: 0
end_s: 9.4397883765974377
}
can_exit: true
change_lane_type: FORWARD
}
}
measurement {
distance: 272.7120690549213
}
routing_request {
header {
timestamp_sec: 1532459103.3858683
module_name: "dreamview"
sequence_num: 4
}
waypoint {
id: "938_1_-1"
s: 8.1266693216761325
pose {
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waypoint {
id: "10771_1_-1"
s: 9.4397883765974377
pose {
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}
map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/600_routing.pb.txt
|
header {
timestamp_sec: 1527801499.9811609
module_name: "routing"
sequence_num: 5
}
road {
id: "2716"
passage {
segment {
id: "2716_1_-1"
start_s: 1.4634490889935299
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can_exit: true
change_lane_type: FORWARD
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}
road {
id: "137"
passage {
segment {
id: "137_1_-1"
start_s: 0
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}
can_exit: true
change_lane_type: FORWARD
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}
road {
id: "2694"
passage {
segment {
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can_exit: true
change_lane_type: FORWARD
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}
road {
id: "2693"
passage {
segment {
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can_exit: true
change_lane_type: FORWARD
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road {
id: "2691"
passage {
segment {
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start_s: 0
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can_exit: true
change_lane_type: FORWARD
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road {
id: "2690"
passage {
segment {
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start_s: 0
end_s: 18.256449451669663
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can_exit: true
change_lane_type: FORWARD
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measurement {
distance: 204.14088036267611
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routing_request {
header {
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module_name: "dreamview"
sequence_num: 5
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waypoint {
id: "2716_1_-1"
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pose {
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waypoint {
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pose {
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map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/600_localization.pb.txt
|
header {
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pose {
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orientation {
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linear_velocity {
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linear_acceleration {
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angular_velocity {
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heading: 2.8902858949786889
linear_acceleration_vrf {
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angular_velocity_vrf {
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euler_angles {
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uncertainty {
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orientation_std_dev {
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linear_velocity_std_dev {
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measurement_time: 1526490044.7951319
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/101_prediction.pb.txt
|
header {
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prediction_obstacle {
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perception_error_code: OK
start_timestamp: 1527023404.2594898
end_timestamp: 1527023404.2610323
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_change_lane_abort_for_fast_back_vehicle_0.pb.txt
|
header {
timestamp_sec: 1518648377.318433
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1522102330.936367
module_name: "routing"
sequence_num: 1621
}
right_of_way_status: UNPROTECTED
lane_id {
id: "3143_1_-2"
}
engage_advice {
advice: KEEP_ENGAGED
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
target_lane_id {
id: "3143_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/102_localization.pb.txt
|
header {
timestamp_sec: 1527023638.1240928
}
pose {
position {
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y: 4140674.3335651346
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orientation {
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linear_velocity {
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angular_velocity {
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angular_velocity_vrf {
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euler_angles {
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uncertainty {
position_std_dev {
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orientation_std_dev {
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linear_velocity_std_dev {
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measurement_time: 1527023638.1066711
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/12_routing.pb.txt
|
header {
timestamp_sec: 1522099346.638303
module_name: "routing"
sequence_num: 769
}
road {
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passage {
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can_exit: true
change_lane_type: FORWARD
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}
road {
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passage {
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can_exit: true
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road {
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passage {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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measurement {
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routing_request {
header {
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module_name: "routing"
sequence_num: 2
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waypoint {
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pose {
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waypoint {
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map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/400_prediction.pb.txt
|
header {
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start_timestamp: 1518648377.2372673
end_timestamp: 1518648377.2489269
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/500_chassis.pb.txt
|
engine_started: true
engine_rpm: 1579.75
speed_mps: 5.7388887
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 20.282291
brake_percentage: 13.795682
steering_percentage: 6.93617
steering_torque_nm: -0.6875
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1522106647.1464088
module_name: "ReadChassis"
sequence_num: 467
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.415354666666666
longitude: -122.02169599999999
gps_valid: true
year: 18
month: 3
day: 26
hours: 23
minutes: 24
seconds: 5
compass_direction: 315
pdop: 0.8
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 326.62
hdop: 0.4
vdop: 0.8
quality: FIX_3D
num_satellites: 20
gps_speed: 2.2352
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/8_localization.pb.txt
|
header {
timestamp_sec: 1532019646.3945193
}
pose {
position {
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y: 4140753.1663008062
z: -30.678401763355883
}
orientation {
qx: -0.0095647143977467836
qy: -0.015673457363983418
qz: 0.99184550970131413
qw: 0.12611639012471573
}
linear_velocity {
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y: -15.076406200366524
z: 0.24889155726028703
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linear_acceleration {
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y: -0.3463256413950816
z: 0.96221569885859459
}
angular_velocity {
x: -0.0044407162359692718
y: -0.00990647608791727
z: -0.0041443146042899719
}
heading: -1.8234936109091482
linear_acceleration_vrf {
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y: 0.0704452395439148
z: 10.773688554763794
}
angular_velocity_vrf {
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y: 0.010834956462284292
z: -0.0037556032930946524
}
euler_angles {
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y: 0.015029081271551984
z: 2.8888953694755415
}
}
uncertainty {
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y: 0.036440721297813589
z: 0.01987743343645728
}
orientation_std_dev {
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y: 0.070251581592929657
z: 0.055938880829331794
}
linear_velocity_std_dev {
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y: 0.025358578924037069
z: 0.00775687386287805
}
}
measurement_time: 1532019646.364136
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/101_chassis.pb.txt
|
engine_started: true
engine_rpm: 1615.5
speed_mps: 8.0277777
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 17.949188
brake_percentage: 13.977264
steering_percentage: -0.34042552
steering_torque_nm: -0.0625
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1527023404.3484287
module_name: "chassis"
sequence_num: 127506
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.408816
longitude: -122.023456
gps_valid: true
year: 18
month: 5
day: 22
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/14_chassis.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/500_prediction.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/103_localization.pb.txt
|
header {
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uncertainty {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/600_prediction.pb.txt
|
header {
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perception_error_code: OK
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end_timestamp: 1526490044.8120532
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_01_0.pb.txt
|
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/101_localization.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/5_prediction.pb.txt
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start_timestamp: 1516822636.425596
end_timestamp: 1516822636.4283874
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/13_chassis.pb.txt
|
engine_started: true
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steering_torque_nm: -0.125
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1518741713.6527004
module_name: "chassis"
sequence_num: 145888
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signal {
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chassis_gps {
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longitude: -122.02013866666665
gps_valid: true
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day: 16
hours: 0
minutes: 41
seconds: 52
compass_direction: 270
pdop: 1
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is_inferred: false
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heading: 255.29
hdop: 0.4
vdop: 0.8
quality: FIX_3D
num_satellites: 22
gps_speed: 0.89408
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engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/201_prediction.pb.txt
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perception_error_code: OK
start_timestamp: 1517275936.5037587
end_timestamp: 1517275936.5187731
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/12_chassis.pb.txt
|
engine_started: true
engine_rpm: 1647.25
speed_mps: 15.388889
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 24.533455
brake_percentage: 14.084077
steering_percentage: 0.53191489
steering_torque_nm: 0.0625
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1518741702.4228067
module_name: "chassis"
sequence_num: 144765
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.404901333333328
longitude: -122.01927466666665
gps_valid: true
year: 18
month: 2
day: 16
hours: 0
minutes: 41
seconds: 41
compass_direction: 270
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 253.76000000000002
hdop: 0.4
vdop: 0.8
quality: FIX_3D
num_satellites: 22
gps_speed: 15.19936
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/1_prediction.pb.txt
|
header {
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module_name: "prediction"
sequence_num: 17932
}
prediction_obstacle {
perception_obstacle {
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perception_error_code: OK
start_timestamp: 1515787931.2873623
end_timestamp: 1515787931.2923565
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/101_routing.pb.txt
|
header {
timestamp_sec: 1533844120.2057884
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can_exit: true
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road {
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road {
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measurement {
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routing_request {
header {
timestamp_sec: 1533844120.2038052
module_name: "dreamview"
sequence_num: 1
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waypoint {
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waypoint {
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map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/14_routing.pb.txt
|
header {
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module_name: "routing"
sequence_num: 2
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road {
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passage {
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can_exit: true
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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}
measurement {
distance: 467.76780117092608
}
routing_request {
header {
timestamp_sec: 1526665914.1546195
module_name: "dreamview"
sequence_num: 2
}
waypoint {
id: "729_1_-1"
s: 7.4689206411576441
pose {
x: 587295.12403107667
y: 4141162.70160819
}
}
waypoint {
id: "1804_1_-1"
s: 3.3307818120836443
pose {
x: 587000.7893311996
y: 4141377.0479595978
}
}
}
map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/500_routing.pb.txt
|
header {
timestamp_sec: 1522106642.4861214
module_name: "routing"
sequence_num: 1
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road {
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measurement {
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routing_request {
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module_name: "routing"
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|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/601_prediction.pb.txt
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/4_prediction.pb.txt
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/300_localization.pb.txt
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_crosswalk_02_1.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/200_prediction.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/103_prediction.pb.txt
|
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perception_error_code: OK
start_timestamp: 1527023661.5523005
end_timestamp: 1527023661.5541549
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/500_localization.pb.txt
|
header {
timestamp_sec: 1522106647.144696
module_name: "ReadLocalization"
sequence_num: 466
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linear_velocity {
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linear_acceleration {
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angular_velocity {
x: -0.01418661182677949
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heading: 2.235445261914399
linear_acceleration_vrf {
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angular_velocity_vrf {
x: 0.0023441799302176968
y: 0.018646939005570923
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euler_angles {
x: -0.037119180370530878
y: -0.045336014204200852
z: 0.66464893511950229
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uncertainty {
position_std_dev {
x: 0.010972627294067385
y: 0.0094467178561181558
z: 0.012520283942028898
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orientation_std_dev {
x: 0.059240168003579841
y: 0.0693377333103652
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linear_velocity_std_dev {
x: 0.012027445662990917
y: 0.011323486403483626
z: 0.0065185331184555474
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measurement_time: 1522106647.105104
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/2_localization.pb.txt
|
header {
timestamp_sec: 1515787939.1706333
}
pose {
position {
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y: 4140154.4289069814
z: -26.501415042946068
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orientation {
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linear_velocity {
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linear_acceleration {
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angular_velocity {
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heading: -1.6339184894758088
linear_acceleration_vrf {
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angular_velocity_vrf {
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euler_angles {
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uncertainty {
position_std_dev {
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orientation_std_dev {
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y: 0.073407830570337521
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linear_velocity_std_dev {
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measurement_time: 1515787939.151032
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/102_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 2.1638889
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.275806
brake_percentage: 23.37377
steering_percentage: 0.04255319
steering_torque_nm: 0.5
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1527023638.1385453
module_name: "chassis"
sequence_num: 150885
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.408850666666666
longitude: -122.02343466666665
gps_valid: true
year: 18
month: 5
day: 22
hours: 21
minutes: 13
seconds: 57
compass_direction: 0
pdop: 1.2000000000000002
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 14.870000000000001
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 18
gps_speed: 2.68224
}
engage_advice {
advice: READY_TO_ENGAGE
}
wheel_speed {
is_wheel_spd_rr_valid: true
wheel_direction_rr: FORWARD
wheel_spd_rr: 6.4
is_wheel_spd_rl_valid: true
wheel_direction_rl: FORWARD
wheel_spd_rl: 6.28
is_wheel_spd_fr_valid: true
wheel_direction_fr: FORWARD
wheel_spd_fr: 6.4
is_wheel_spd_fl_valid: true
wheel_direction_fl: FORWARD
wheel_spd_fl: 6.44
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_traffic_light_green_0.pb.txt
|
header {
timestamp_sec: 1517713744.0523663
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_LEFT
}
}
routing_header {
timestamp_sec: 1522102176.3444228
module_name: "routing"
sequence_num: 1578
}
right_of_way_status: UNPROTECTED
lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
id: "1948_1_-1"
}
lane_id {
id: "1949_1_-1"
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engage_advice {
advice: KEEP_ENGAGED
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
target_lane_id {
id: "150_1_-1"
}
target_lane_id {
id: "149_1_-1"
}
target_lane_id {
id: "1954_1_-1"
}
target_lane_id {
id: "1965a_1_-1"
}
target_lane_id {
id: "71_1_-1"
}
target_lane_id {
id: "2448_1_-1"
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target_lane_id {
id: "66_1_-1"
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target_lane_id {
id: "1948_1_-1"
}
target_lane_id {
id: "1949_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/14_localization.pb.txt
|
header {
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pose {
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angular_velocity_vrf {
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euler_angles {
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uncertainty {
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orientation_std_dev {
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linear_velocity_std_dev {
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measurement_time: 1526490067.735162
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/400_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 15.675
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 26.564432
brake_percentage: 14.959945
steering_percentage: -1.2978723
steering_torque_nm: -2
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1518648377.319916
module_name: "chassis"
sequence_num: 247176
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
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longitude: -122.01127466666665
gps_valid: true
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month: 2
day: 14
hours: 22
minutes: 46
seconds: 16
compass_direction: 270
pdop: 1.2000000000000002
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 280.79
hdop: 0.60000000000000009
vdop: 1
quality: FIX_3D
num_satellites: 15
gps_speed: 15.6464
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engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/2_prediction.pb.txt
|
header {
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start_timestamp: 1515787939.0867765
end_timestamp: 1515787939.0904527
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/3_localization.pb.txt
|
header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/7_prediction.pb.txt
|
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perception_error_code: OK
start_timestamp: 1516822638.9284973
end_timestamp: 1516822638.9315367
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/103_routing.pb.txt
|
header {
timestamp_sec: 1533844120.2057884
module_name: "routing"
sequence_num: 1
}
road {
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passage {
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start_s: 3.9204489256831567
end_s: 7.14577
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can_exit: true
change_lane_type: FORWARD
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road {
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passage {
segment {
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start_s: 0
end_s: 18.4625
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can_exit: true
change_lane_type: FORWARD
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road {
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passage {
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end_s: 10.8511
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change_lane_type: FORWARD
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road {
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passage {
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| 0
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/1_localization.pb.txt
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| 0
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/102_prediction.pb.txt
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start_timestamp: 1527023638.0364676
end_timestamp: 1527023638.0385075
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/400_routing.pb.txt
|
header {
timestamp_sec: 1522102330.936367
module_name: "routing"
sequence_num: 1621
}
road {
id: "1771"
passage {
segment {
id: "1771_1_-3"
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end_s: 45.6703
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1415"
passage {
segment {
id: "1415_1_-3"
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end_s: 12.6104
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1416"
passage {
segment {
id: "1416_1_-3"
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end_s: 37.2856
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1422"
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segment {
id: "1422_1_-3"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1423"
passage {
segment {
id: "1423_1_-3"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1425"
passage {
segment {
id: "1425_1_-3"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1426"
passage {
segment {
id: "1426_1_-3"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1430"
passage {
segment {
id: "1430_1_-3"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1431"
passage {
segment {
id: "1431_1_-3"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "1440_1_-3"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "2423a_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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can_exit: true
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}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
}
road {
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segment {
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}
}
road {
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segment {
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}
}
road {
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segment {
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}
}
road {
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segment {
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can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "2647_1_-1"
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change_lane_type: FORWARD
}
}
road {
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segment {
id: "2648_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "2650_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "2651_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "1954_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "1965a_1_-1"
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can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "66_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "1948_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
}
road {
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}
}
road {
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}
}
road {
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segment {
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}
}
road {
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}
}
road {
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}
}
road {
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}
}
road {
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}
}
road {
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}
}
road {
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}
}
road {
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}
}
road {
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}
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}
}
road {
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}
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}
}
road {
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segment {
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}
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}
}
road {
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}
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}
}
road {
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}
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}
}
road {
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segment {
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}
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}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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}
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}
}
road {
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}
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}
}
road {
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}
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}
}
road {
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segment {
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}
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}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
id: "11056_1_-2"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
id: "1844_1_-2"
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
id: "1842_1_-2"
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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}
}
road {
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segment {
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}
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}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
id: "1837_1_-2"
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}
segment {
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}
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}
passage {
segment {
id: "1837_1_-1"
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}
segment {
id: "2193_1_-1"
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}
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change_lane_type: LEFT
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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end_s: 16.5147
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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}
passage {
segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
id: "2414_1_-1"
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
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change_lane_type: FORWARD
}
}
road {
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segment {
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}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
id: "1771_1_-3"
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end_s: 45.6703
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
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passage {
segment {
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end_s: 12.6104
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1416"
passage {
segment {
id: "1416_1_-3"
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end_s: 37.2856
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1422"
passage {
segment {
id: "1422_1_-3"
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end_s: 11.7449
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1423"
passage {
segment {
id: "1423_1_-3"
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end_s: 7.71293
}
can_exit: true
change_lane_type: FORWARD
}
}
road {
id: "1425"
passage {
segment {
id: "1425_1_-3"
start_s: 0
end_s: 11.737862608297162
}
can_exit: true
change_lane_type: FORWARD
}
}
measurement {
distance: 2925.5718256235891
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routing_request {
header {
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module_name: "routing"
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waypoint {
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s: 32.245526984708405
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waypoint {
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waypoint {
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waypoint {
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waypoint {
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pose {
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}
map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/7_localization.pb.txt
|
header {
timestamp_sec: 1516822638.9739869
}
pose {
position {
x: 586705.73719455581
y: 4140230.5087151555
z: -26.989409407415256
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orientation {
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angular_velocity {
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angular_velocity_vrf {
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euler_angles {
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uncertainty {
position_std_dev {
x: 0.011759646665168481
y: 0.0028115872869329131
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orientation_std_dev {
x: 0.050106484167571179
y: 0.06222868194327659
z: 0.05027727025630712
}
linear_velocity_std_dev {
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z: 0.0060876521662082276
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}
measurement_time: 1516822638.95079
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/102_routing.pb.txt
|
header {
timestamp_sec: 1533844120.2057884
module_name: "routing"
sequence_num: 1
}
road {
id: "2896"
passage {
segment {
id: "2896_1_-1"
start_s: 3.9204489256831567
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can_exit: true
change_lane_type: FORWARD
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road {
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road {
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road {
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road {
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road {
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road {
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passage {
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can_exit: true
change_lane_type: FORWARD
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road {
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passage {
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can_exit: true
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road {
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can_exit: true
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road {
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road {
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road {
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road {
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road {
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road {
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road {
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can_exit: true
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road {
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passage {
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can_exit: true
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road {
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passage {
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can_exit: true
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road {
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passage {
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can_exit: true
change_lane_type: FORWARD
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road {
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passage {
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can_exit: true
change_lane_type: FORWARD
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road {
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passage {
segment {
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can_exit: true
change_lane_type: FORWARD
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road {
id: "2922"
passage {
segment {
id: "2922_1_-1"
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can_exit: true
change_lane_type: FORWARD
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measurement {
distance: 284.34704237235405
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routing_request {
header {
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module_name: "dreamview"
sequence_num: 1
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waypoint {
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waypoint {
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map_version: "1.500000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_02_0.pb.txt
|
header {
timestamp_sec: 1527023638.1240928
lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
is_replan: true
gear: GEAR_DRIVE
decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1533844120.2057884
module_name: "routing"
sequence_num: 1
}
right_of_way_status: UNPROTECTED
lane_id {
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}
lane_id {
id: "11043_1_-1"
}
lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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}
lane_id {
id: "2922_1_-1"
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engage_advice {
advice: READY_TO_ENGAGE
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trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
target_lane_id {
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target_lane_id {
id: "11043_1_-1"
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target_lane_id {
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target_lane_id {
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target_lane_id {
id: "10590_1_-1"
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target_lane_id {
id: "10589_1_-1"
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target_lane_id {
id: "2912_1_-1"
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target_lane_id {
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target_lane_id {
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target_lane_id {
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target_lane_id {
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target_lane_id {
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target_lane_id {
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target_lane_id {
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target_lane_id {
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target_lane_id {
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target_lane_id {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_keep_clear_03_0.pb.txt
|
header {
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is_replan: true
gear: GEAR_DRIVE
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main_decision {
cruise {
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object_decision {
decision {
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perception_id: 9830
object_decision {
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vehicle_signal {
turn_signal: TURN_NONE
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}
routing_header {
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right_of_way_status: UNPROTECTED
lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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engage_advice {
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trajectory_type: SPEED_FALLBACK
replan_reason: "replan for no previous trajectory."
target_lane_id {
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target_lane_id {
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target_lane_id {
id: "2907_1_-1"
}
target_lane_id {
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target_lane_id {
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target_lane_id {
id: "10589_1_-1"
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target_lane_id {
id: "2912_1_-1"
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target_lane_id {
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target_lane_id {
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target_lane_id {
id: "2919_1_-1"
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target_lane_id {
id: "2918_1_-1"
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target_lane_id {
id: "338_1_-1"
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target_lane_id {
id: "10557_1_-1"
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target_lane_id {
id: "11044_1_-1"
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target_lane_id {
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target_lane_id {
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target_lane_id {
id: "2922_1_-1"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/6_localization.pb.txt
|
header {
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pose {
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uncertainty {
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orientation_std_dev {
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linear_velocity_std_dev {
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measurement_time: 1516822637.12079
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/3_prediction.pb.txt
|
header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_03_0.pb.txt
|
header {
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}
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gear: GEAR_DRIVE
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/result_stop_sign_02_0.pb.txt
|
header {
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gear: GEAR_DRIVE
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engage_advice {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/5_localization.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/13_localization.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/6_prediction.pb.txt
|
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/12_localization.pb.txt
|
header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/103_chassis.pb.txt
|
engine_started: true
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brake_percentage: 25.844206
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steering_torque_nm: 0.75
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
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module_name: "chassis"
sequence_num: 153234
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signal {
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chassis_gps {
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longitude: -122.02343466666665
gps_valid: true
year: 18
month: 5
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hours: 21
minutes: 14
seconds: 21
compass_direction: 0
pdop: 1.2000000000000002
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is_inferred: false
altitude: -42.5
heading: 14.76
hdop: 0.60000000000000009
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quality: FIX_3D
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wheel_speed {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_big_loop_test/4_localization.pb.txt
|
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/trajectory_data/standard_trajectory.pb.txt
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}
v: 4.692487342360657
a: -0.64415058351505927
relative_time: 7.1999999999999913
}
trajectory_point {
path_point {
x: 587259.49457223958
y: 4140950.0246631205
theta: -1.7964461132409837
kappa: -0.0074594195932201311
s: 41.742683061996672
dkappa: -0.00099350183028249417
ddkappa: 0
}
v: 4.6243882293142331
a: -0.718884554573279
relative_time: 7.2999999999999909
}
trajectory_point {
path_point {
x: 587259.38953413768
y: 4140949.5781392641
theta: -1.8004106301801324
kappa: -0.0079208678022327766
s: 42.201394907219985
dkappa: -0.0010000347900219943
ddkappa: 0
}
v: 4.5484959177642876
a: -0.80005393608291531
relative_time: 7.3999999999999906
}
trajectory_point {
path_point {
x: 587259.28605804429
y: 4140949.1394737619
theta: -1.8043527611180741
kappa: -0.0083748806479450391
s: 42.652100653327928
dkappa: -0.0010065858917290085
ddkappa: 0
}
v: 4.464155051916447
a: -0.8878950230286542
relative_time: 7.49999999999999
}
trajectory_point {
path_point {
x: 587259.18139278784
y: 4140948.7102290597
theta: -1.8087743553212867
kappa: -0.0088273057093225232
s: 43.093921692538579
dkappa: -0.0010145810440720182
ddkappa: 0
}
v: 4.3706866464778651
a: -0.982644110395183
relative_time: 7.59999999999999
}
trajectory_point {
path_point {
x: 587259.079056778
y: 4140948.2905368744
theta: -1.8130975502734952
kappa: -0.0092696623914845129
s: 43.52591033706576
dkappa: -0.0010223982703173224
ddkappa: 0
}
v: 4.2673880866572285
a: -1.0845374931671878
relative_time: 7.6999999999999895
}
trajectory_point {
path_point {
x: 587258.97624587524
y: 4140947.8821451892
theta: -1.8164258400028719
kappa: -0.0097084009843911145
s: 43.947047456169294
dkappa: -0.0010315135997202591
ddkappa: 0
}
v: 4.1535331281647556
a: -1.1938114663293562
relative_time: 7.7999999999999892
}
trajectory_point {
path_point {
x: 587258.875563031
y: 4140947.4855325371
theta: -1.8194304385933109
kappa: -0.010136634606363489
s: 44.35624011320504
dkappa: -0.0010407570250364098
ddkappa: 0
}
v: 4.0283718972121969
a: -1.3107023248663743
relative_time: 7.8999999999999888
}
trajectory_point {
path_point {
x: 587258.7766935539
y: 4140947.1019968945
theta: -1.8230291643245105
kappa: -0.010555403856244738
s: 44.752319202675167
dkappa: -0.0010508111095465492
ddkappa: 0
}
v: 3.89113089051283
a: -1.4354463637629298
relative_time: 7.9999999999999885
}
decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
decision {
id: "3_0"
perception_id: 3
object_decision {
follow {
distance_s: -17.749999761581421
fence_point {
x: 587271.78034758754
y: 4140989.300349629
z: 0
}
fence_heading: -1.9487604958207074
}
}
}
}
vehicle_signal {
turn_signal: TURN_RIGHT
}
}
routing_header {
timestamp_sec: 1504919697.607234
module_name: "routing"
}
right_of_way_status: UNPROTECTED
lane_id {
id: "140_1_-1"
}
lane_id {
id: "747_1_-1"
}
lane_id {
id: "141_1_-2"
}
lane_id {
id: "906_1_-1"
}
lane_id {
id: "9_1_-2"
}
engage_advice {
advice: KEEP_ENGAGED
}
| 0
|
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