planning: naming change for SpeedHeuristicOptimizer for consistency

wuqunyong · May 19, 2020 · 43e69a0 · 43e69a0
1 parent 9564687
commit 43e69a0
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Showing 23 changed files with 143 additions and 141 deletions.
diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt
@@ -44,8 +44,8 @@ default_task_config: {
   }
 }
 default_task_config: {
-  task_type: DP_ST_SPEED_OPTIMIZER
-  speed_heuristic_config {
+  task_type: SPEED_HEURISTIC_OPTIMIZER
+  speed_heuristic_optimizer_config {
     default_speed_config {
       unit_t: 1.0
       dense_dimension_s: 101

diff --git a/modules/planning/conf/scenario/bare_intersection_unprotected_config.pb.txt b/modules/planning/conf/scenario/bare_intersection_unprotected_config.pb.txt
@@ -22,7 +22,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -45,7 +45,7 @@ stage_config: {
     task_type: RULE_BASED_STOP_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -78,7 +78,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -101,7 +101,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/emergency_pull_over_config.pb.txt b/modules/planning/conf/scenario/emergency_pull_over_config.pb.txt
@@ -21,7 +21,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -41,7 +41,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -74,7 +74,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -110,7 +110,7 @@ stage_config: {
     task_type: SPEED_BOUNDS_FINAL_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -140,7 +140,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -160,7 +160,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/emergency_stop_config.pb.txt b/modules/planning/conf/scenario/emergency_stop_config.pb.txt
@@ -18,7 +18,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -46,7 +46,7 @@ stage_config: {
     task_type: SPEED_BOUNDS_FINAL_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -76,7 +76,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -96,7 +96,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/lane_follow_config.pb.txt b/modules/planning/conf/scenario/lane_follow_config.pb.txt
@@ -13,7 +13,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   # task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -62,7 +62,7 @@ stage_config: {
     task_type: SPEED_BOUNDS_FINAL_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/park_and_go_config.pb.txt b/modules/planning/conf/scenario/park_and_go_config.pb.txt
@@ -133,7 +133,7 @@ stage_config:{
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -166,7 +166,7 @@ stage_config:{
     task_type: SPEED_BOUNDS_FINAL_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/pull_over_config.pb.txt b/modules/planning/conf/scenario/pull_over_config.pb.txt
@@ -24,7 +24,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -60,7 +60,7 @@ stage_config: {
     task_type: SPEED_BOUNDS_FINAL_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -91,7 +91,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
@@ -124,7 +124,7 @@ stage_config: {
     task_type: SPEED_BOUNDS_PRIORI_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/stop_sign_unprotected_config.pb.txt b/modules/planning/conf/scenario/stop_sign_unprotected_config.pb.txt
@@ -24,7 +24,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -44,7 +44,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -80,7 +80,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -100,7 +100,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -137,7 +137,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -168,7 +168,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -204,7 +204,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -227,7 +227,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/traffic_light_protected_config.pb.txt b/modules/planning/conf/scenario/traffic_light_protected_config.pb.txt
@@ -18,7 +18,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -41,7 +41,7 @@ stage_config: {
     task_type: ST_BOUNDS_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -74,7 +74,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -97,7 +97,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER

diff --git a/modules/planning/conf/scenario/traffic_light_unprotected_left_turn_config.pb.txt b/modules/planning/conf/scenario/traffic_light_unprotected_left_turn_config.pb.txt
@@ -23,7 +23,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -43,7 +43,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_BOUNDS_PRIORI_DECIDER
@@ -80,7 +80,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -111,7 +111,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER
@@ -147,7 +147,7 @@ stage_config: {
   task_type: RULE_BASED_STOP_DECIDER
   task_type: ST_BOUNDS_DECIDER
   task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  task_type: DP_ST_SPEED_OPTIMIZER
+  task_type: SPEED_HEURISTIC_OPTIMIZER
   task_type: SPEED_DECIDER
   task_type: SPEED_BOUNDS_FINAL_DECIDER
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
@@ -170,7 +170,7 @@ stage_config: {
     task_type: PATH_DECIDER
   }
   task_config: {
-    task_type: DP_ST_SPEED_OPTIMIZER
+    task_type: SPEED_HEURISTIC_OPTIMIZER
   }
   task_config: {
     task_type: SPEED_DECIDER