Planning : Add config for open_space planner

jlniuhuan · Aug 31, 2018 · 10dafa1 · 10dafa1
1 parent 33b423f
commit 10dafa1
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Showing 4 changed files with 29 additions and 1 deletion.
diff --git a/modules/planning/planner/open_space/open_space_planner.cc b/modules/planning/planner/open_space/open_space_planner.cc
@@ -30,7 +30,10 @@ using apollo::common::ErrorCode;
 using apollo::common::Status;
 using apollo::common::TrajectoryPoint;
 
-Status OpenSpacePlanner::Init(const PlanningConfig&) { return Status::OK(); }
+Status OpenSpacePlanner::Init(const PlanningConfig&) {
+  AINFO << "In OpenSpacePlanner::Init()";
+  return Status::OK();
+}
 
 apollo::common::Status OpenSpacePlanner::Plan(
     const common::TrajectoryPoint& planning_init_point, Frame* frame) {

diff --git a/modules/planning/proto/BUILD b/modules/planning/proto/BUILD
@@ -148,6 +148,7 @@ proto_library(
         ":navi_path_decider_config_proto_lib",
         ":navi_speed_decider_config_proto_lib",
         ":navi_obstacle_decider_config_proto_lib",
+        ":open_space_planner_config_proto_lib",
     ],
 )
 
@@ -343,6 +344,20 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "open_space_planner_config_proto_lib",
+    srcs = [
+        "open_space_planner_config.proto",
+    ],
+)
+
+cc_proto_library(
+    name = "open_space_planner_config_proto",
+    deps = [
+        ":open_space_planner_config_proto_lib",
+    ],
+)
+
 cc_proto_library(
     name = "auto_tuning_raw_feature",
     deps = [

diff --git a/modules/planning/proto/open_space_planner_config.proto b/modules/planning/proto/open_space_planner_config.proto
@@ -0,0 +1,7 @@
+syntax = "proto2";
+
+package apollo.planning;
+
+message OpenSpacePlannerConfig {
+  optional uint32 planning_horizon = 1 [default = 10];
+}
diff --git a/modules/planning/proto/planning_config.proto b/modules/planning/proto/planning_config.proto
@@ -10,6 +10,7 @@ import "modules/planning/proto/poly_st_speed_config.proto";
 import "modules/planning/proto/navi_path_decider_config.proto";
 import "modules/planning/proto/navi_speed_decider_config.proto";
 import "modules/planning/proto/navi_obstacle_decider_config.proto";
+import "modules/planning/proto/open_space_planner_config.proto";
 
 enum TaskType {
   DP_POLY_PATH_OPTIMIZER = 0;
@@ -58,4 +59,6 @@ message PlanningConfig {
     LANE_FOLLOW = 0;
   };
   optional ScenarioType scenario_type = 4 [default = LANE_FOLLOW];
+
+  optional OpenSpacePlannerConfig open_space_planner_config = 5;
 }