planning: naming changes in task confs for consistency

wuqunyong · May 13, 2020 · c56f6c7 · c56f6c7
1 parent 35e1f75
commit c56f6c7
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Showing 7 changed files with 39 additions and 36 deletions.
diff --git a/modules/planning/conf/planning_config.pb.txt b/modules/planning/conf/planning_config.pb.txt
@@ -5,7 +5,7 @@ standard_planning_config {
 }
 default_task_config: {
   task_type: PIECEWISE_JERK_PATH_OPTIMIZER
-  piecewise_jerk_path_config {
+  piecewise_jerk_path_optimizer_config {
     default_path_config {
       l_weight: 1.0
       dl_weight: 20.0
@@ -22,7 +22,7 @@ default_task_config: {
 }
 default_task_config: {
   task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
-  piecewise_jerk_speed_config {
+  piecewise_jerk_speed_optimizer_config {
     acc_weight: 1.0
     jerk_weight: 3.0
     kappa_penalty_weight: 2000.0
@@ -32,7 +32,7 @@ default_task_config: {
 }
 default_task_config: {
   task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
-  piecewise_jerk_nonlinear_speed_config {
+  piecewise_jerk_nonlinear_speed_optimizer_config {
     acc_weight: 2.0
     jerk_weight: 3.0
     lat_acc_weight: 1000.0

diff --git a/modules/planning/proto/planner_open_space_config.proto b/modules/planning/proto/planner_open_space_config.proto
@@ -67,7 +67,7 @@ message WarmStartConfig {
   // Grid a star for heuristic
   optional double grid_a_star_xy_resolution = 15 [default = 0.1];
   optional double node_radius = 16 [default = 0.5];
-  optional PiecewiseJerkSpeedConfig s_curve_config = 17;
+  optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 17;
 }
 
 message DualVariableWarmStartConfig {
@@ -162,7 +162,7 @@ message IterativeAnchoringConfig {
   optional double max_reverse_acc = 13 [default = 2.0];
   optional double max_acc_jerk = 14 [default = 4.0];
   optional double delta_t = 15 [default = 0.2];
-  optional PiecewiseJerkSpeedConfig s_curve_config = 16;
+  optional PiecewiseJerkSpeedOptimizerConfig s_curve_config = 16;
 }
 
 message TrajectoryPartitionConfig {

diff --git a/modules/planning/proto/planning_config.proto b/modules/planning/proto/planning_config.proto
@@ -64,10 +64,10 @@ message TaskConfig {
     OpenSpaceTrajectoryProviderConfig
         open_space_trajectory_provider_config = 16;
     SpeedHeuristicConfig speed_heuristic_config = 17;
-    PiecewiseJerkNonlinearSpeedConfig
-        piecewise_jerk_nonlinear_speed_config = 18;
-    PiecewiseJerkPathConfig piecewise_jerk_path_config = 19;
-    PiecewiseJerkSpeedConfig piecewise_jerk_speed_config = 20;
+    PiecewiseJerkNonlinearSpeedOptimizerConfig
+        piecewise_jerk_nonlinear_speed_optimizer_config = 18;
+    PiecewiseJerkPathOptimizerConfig piecewise_jerk_path_optimizer_config = 19;
+    PiecewiseJerkSpeedOptimizerConfig piecewise_jerk_speed_optimizer_config = 20;
     // other tasks
     LearningBasedTaskConfig learning_based_task_config = 21;
   }

diff --git a/modules/planning/proto/task_config.proto b/modules/planning/proto/task_config.proto
@@ -210,9 +210,9 @@ message PathReuseDeciderConfig {
 }
 
 //////////////////////////////////
-// PiecewiseJerkNonlinearSpeedConfig
+// PiecewiseJerkNonlinearSpeedOptimizerConfig
 
-message PiecewiseJerkNonlinearSpeedConfig {
+message PiecewiseJerkNonlinearSpeedOptimizerConfig {
   // Driving comfort weights
   optional double acc_weight = 1 [default = 500.0];
   optional double jerk_weight = 2 [default = 100.0];
@@ -240,9 +240,9 @@ message PiecewiseJerkNonlinearSpeedConfig {
 }
 
 //////////////////////////////////
-// PiecewiseJerkPathConfig
+// PiecewiseJerkPathOptimizerConfig
 
-message PiecewiseJerkPathConfig {
+message PiecewiseJerkPathOptimizerConfig {
   optional PiecewiseJerkPathWeights default_path_config = 1;
   optional PiecewiseJerkPathWeights lane_change_path_config = 2;
 }
@@ -254,9 +254,9 @@ message PiecewiseJerkPathWeights {
 }
 
 //////////////////////////////////
-// PiecewiseJerkSpeedConfig
+// PiecewiseJerkSpeedOptimizerConfig
 
-message PiecewiseJerkSpeedConfig {
+message PiecewiseJerkSpeedOptimizerConfig {
   optional double acc_weight = 1 [default = 1.0];
   optional double jerk_weight = 2 [default = 10.0];
   optional double kappa_penalty_weight = 3 [default = 1000.0];

diff --git a/modules/planning/tasks/optimizers/piecewise_jerk_path/piecewise_jerk_path_optimizer.cc b/modules/planning/tasks/optimizers/piecewise_jerk_path/piecewise_jerk_path_optimizer.cc
@@ -37,7 +37,7 @@ using apollo::common::VehicleConfigHelper;
 
 PiecewiseJerkPathOptimizer::PiecewiseJerkPathOptimizer(const TaskConfig& config)
     : PathOptimizer(config) {
-  ACHECK(config_.has_piecewise_jerk_path_config());
+  ACHECK(config_.has_piecewise_jerk_path_optimizer_config());
 }
 
 common::Status PiecewiseJerkPathOptimizer::Process(
@@ -61,18 +61,21 @@ common::Status PiecewiseJerkPathOptimizer::Process(
 
   // Choose lane_change_path_config for lane-change cases
   // Otherwise, choose default_path_config for normal path planning
-  const auto& piecewise_jerk_path_config =
+  const auto& config =
       reference_line_info_->IsChangeLanePath()
-          ? config_.piecewise_jerk_path_config().lane_change_path_config()
-          : config_.piecewise_jerk_path_config().default_path_config();
+          ? config_.piecewise_jerk_path_optimizer_config()
+                   .lane_change_path_config()
+          : config_.piecewise_jerk_path_optimizer_config()
+                   .default_path_config();
 
   std::array<double, 5> w = {
-      piecewise_jerk_path_config.l_weight(),
-      piecewise_jerk_path_config.dl_weight() *
+      config.l_weight(),
+      config.dl_weight() *
           std::fmax(init_frenet_state.first[1] * init_frenet_state.first[1],
                     5.0),
-      piecewise_jerk_path_config.ddl_weight(),
-      piecewise_jerk_path_config.dddl_weight(), 0.0};
+      config.ddl_weight(),
+      config.dddl_weight(),
+      0.0};
 
   const auto& path_boundaries =
       reference_line_info_->GetCandidatePathBoundaries();

diff --git a/...lanning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.cc b/...lanning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.cc
@@ -49,7 +49,7 @@ PiecewiseJerkSpeedNonlinearOptimizer::PiecewiseJerkSpeedNonlinearOptimizer(
     : SpeedOptimizer(config),
       smoothed_speed_limit_(0.0, 0.0, 0.0),
       smoothed_path_curvature_(0.0, 0.0, 0.0) {
-  ACHECK(config_.has_piecewise_jerk_nonlinear_speed_config());
+  ACHECK(config_.has_piecewise_jerk_nonlinear_speed_optimizer_config());
 }
 
 Status PiecewiseJerkSpeedNonlinearOptimizer::Process(
@@ -438,7 +438,8 @@ Status PiecewiseJerkSpeedNonlinearOptimizer::OptimizeByQP(
   piecewise_jerk_problem.set_x_bounds(s_bounds_);
 
   // TODO(Jinyun): parameter tunnings
-  const auto& config = config_.piecewise_jerk_nonlinear_speed_config();
+  const auto& config =
+      config_.piecewise_jerk_nonlinear_speed_optimizer_config();
   piecewise_jerk_problem.set_weight_x(0.0);
   piecewise_jerk_problem.set_weight_dx(0.0);
   piecewise_jerk_problem.set_weight_ddx(config.acc_weight());
@@ -480,7 +481,8 @@ Status PiecewiseJerkSpeedNonlinearOptimizer::OptimizeByNLP(
   ptr_interface->set_safety_bounds(s_bounds_);
 
   // Set weights and reference values
-  const auto& config = config_.piecewise_jerk_nonlinear_speed_config();
+  const auto& config =
+      config_.piecewise_jerk_nonlinear_speed_optimizer_config();
 
   ptr_interface->set_curvature_curve(smoothed_path_curvature_);
 

diff --git a/modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc b/modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc
@@ -44,7 +44,7 @@ using apollo::common::TrajectoryPoint;
 PiecewiseJerkSpeedOptimizer::PiecewiseJerkSpeedOptimizer(
     const TaskConfig& config)
     : SpeedOptimizer(config) {
-  ACHECK(config_.has_piecewise_jerk_speed_config());
+  ACHECK(config_.has_piecewise_jerk_speed_optimizer_config());
 }
 
 Status PiecewiseJerkSpeedOptimizer::Process(const PathData& path_data,
@@ -77,12 +77,10 @@ Status PiecewiseJerkSpeedOptimizer::Process(const PathData& path_data,
   PiecewiseJerkSpeedProblem piecewise_jerk_problem(num_of_knots, delta_t,
                                                    init_s);
 
-  const auto& piecewise_jerk_speed_config =
-      config_.piecewise_jerk_speed_config();
-  piecewise_jerk_problem.set_weight_ddx(
-      piecewise_jerk_speed_config.acc_weight());
-  piecewise_jerk_problem.set_weight_dddx(
-      piecewise_jerk_speed_config.jerk_weight());
+  const auto& config =
+      config_.piecewise_jerk_speed_optimizer_config();
+  piecewise_jerk_problem.set_weight_ddx(config.acc_weight());
+  piecewise_jerk_problem.set_weight_dddx(config.jerk_weight());
 
   piecewise_jerk_problem.set_x_bounds(0.0, total_length);
   piecewise_jerk_problem.set_dx_bounds(
@@ -93,7 +91,7 @@ Status PiecewiseJerkSpeedOptimizer::Process(const PathData& path_data,
   piecewise_jerk_problem.set_dddx_bound(FLAGS_longitudinal_jerk_lower_bound,
                                         FLAGS_longitudinal_jerk_upper_bound);
 
-  piecewise_jerk_problem.set_dx_ref(piecewise_jerk_speed_config.ref_v_weight(),
+  piecewise_jerk_problem.set_dx_ref(config.ref_v_weight(),
                                     reference_line_info_->GetCruiseSpeed());
 
   // Update STBoundary
@@ -149,14 +147,14 @@ Status PiecewiseJerkSpeedOptimizer::Process(const PathData& path_data,
     // get curvature
     PathPoint path_point = path_data.GetPathPointWithPathS(path_s);
     penalty_dx.push_back(std::fabs(path_point.kappa()) *
-                         piecewise_jerk_speed_config.kappa_penalty_weight());
+                         config.kappa_penalty_weight());
     // get v_upper_bound
     const double v_lower_bound = 0.0;
     double v_upper_bound = FLAGS_planning_upper_speed_limit;
     v_upper_bound = speed_limit.GetSpeedLimitByS(path_s);
     s_dot_bounds.emplace_back(v_lower_bound, std::fmax(v_upper_bound, 0.0));
   }
-  piecewise_jerk_problem.set_x_ref(piecewise_jerk_speed_config.ref_s_weight(),
+  piecewise_jerk_problem.set_x_ref(config.ref_s_weight(),
                                    x_ref);
   piecewise_jerk_problem.set_penalty_dx(penalty_dx);
   piecewise_jerk_problem.set_dx_bounds(std::move(s_dot_bounds));