Planning: small modification to allow plotting generated st-boundary …

…in dv.
seekme-ai · Nov 7, 2019 · 363c71d · 363c71d
1 parent 11a98b0
commit 363c71d
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Showing 3 changed files with 5 additions and 2 deletions.
diff --git a/modules/planning/conf/planning.conf b/modules/planning/conf/planning.conf
@@ -6,7 +6,7 @@
 --prioritize_change_lane
 --min_length_for_lane_change=5.0
 --nouse_multi_thread_to_add_obstacles
-# --enable_multi_thread_in_dp_st_graph
+--enable_multi_thread_in_dp_st_graph
 --use_osqp_optimizer_for_reference_line
 
 # --smoother_config_filename=/apollo/modules/planning/conf/spiral_smoother_config.pb.txt
@@ -21,6 +21,7 @@
 # --enable_record_debug=true
 # --use_gear_shift_trajectory=true
 # --enable_parallel_hybrid_a=true
+# --export_chart=true
 
 --enable_nonscenario_side_pass
 

diff --git a/modules/planning/proto/planning_internal.proto b/modules/planning/proto/planning_internal.proto
@@ -32,6 +32,7 @@ message StGraphBoundaryDebug {
     ST_BOUNDARY_TYPE_YIELD = 4;
     ST_BOUNDARY_TYPE_OVERTAKE = 5;
     ST_BOUNDARY_TYPE_KEEP_CLEAR = 6;
+    ST_BOUNDARY_TYPE_DRIVABLE_REGION = 7;
   }
   optional string name = 1;
   repeated apollo.common.SpeedPoint point = 2;

diff --git a/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc b/modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.cc
@@ -270,7 +270,8 @@ void STBoundsDecider::RecordSTGraphDebug(
   // Plot the chosen ST boundary.
   auto boundary_debug = st_graph_debug->add_boundary();
   boundary_debug->set_name("Generated ST-Boundary");
-  boundary_debug->set_type(StGraphBoundaryDebug::ST_BOUNDARY_TYPE_UNKNOWN);
+  boundary_debug->set_type(
+      StGraphBoundaryDebug::ST_BOUNDARY_TYPE_DRIVABLE_REGION);
   for (const auto& st_bound_pt : st_bound) {
     auto point_debug = boundary_debug->add_point();
     double t = 0.0;