Protobuf Definition

Protocol Documentation

Protocol Documentation

Table of Contents

drltt_proto/environment/trajectory_tracking.proto

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DynamicsModelData

FieldTypeLabelDescription
type string optional

Dynamic model's class name

hyper_parameter HyperParameter optional

Hyper-parameter.

states State repeated

Sequence of states.

actions Action repeated

Sequence of actions.

observations Observation repeated

Sequence of observations.

debug_infos DebugInfo repeated

Debug information.

TrajectoryTrackingEnvironment

Trajectory tracking environment.

FieldTypeLabelDescription
hyper_parameter TrajectoryTrackingHyperParameter optional

Hyper-parameter of the environment.

episode TrajectoryTrackingEpisode optional

Episode data.

episodes TrajectoryTrackingEpisode repeated

TrajectoryTrackingEpisode

Data recorded from an episode, i.e. a trajectory.

FieldTypeLabelDescription
step_index int32 optional

Last step index.

hyper_parameter TrajectoryTrackingHyperParameter optional

Environment's hyper-parameter.

reference_line ReferenceLine optional

Reference line.

tracking_length int32 optional

Real tracking length.

dynamics_model DynamicsModelData

Dynamics model's data, including hyper-parameter and trajectory, i.e. sequence of state-observation-action triplet.

selected_dynamics_model_index int32 optional

Index of selected dynamics model.

rewards float repeated

Sequence of rewards.

TrajectoryTrackingHyperParameter

FieldTypeLabelDescription
step_interval float optional

Interval between each time step in [s]

init_state_lb float repeated

Initial state space's lower bound.

init_state_ub float repeated

Initial state space's upper bound.

n_observation_steps int32 optional

Number of observable forward waypoints on the reference line.

dynamics_models_hyper_parameters HyperParameter repeated

Collectino of hyper-parameters of dynamics models.

tracking_length_lb int32 optional

Tracking lenght' lower bound.

tracking_length_ub int32 optional

Tracking lenght' upper bound.

reference_line_pad_mode string optional

Reference line pad mode.

max_n_episodes int32 optional

TODO: consider a better place to store this hparam

drltt_proto/environment/environment.proto

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Environment

Environment

FieldTypeLabelDescription
trajectory_tracking TrajectoryTrackingEnvironment optional

Trajectory tracking.

drltt_proto/sdk/exported_policy_test_case.proto

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ExportedPolicyTestCases

FieldTypeLabelDescription
observations TensorFP optional

Observation tensor, shape=(sample_number, observation_dim)

actions TensorFP optional

Action tensor, shape=(sample_number, action_dim)

TensorFP

Float-point tensor.

FieldTypeLabelDescription
shape int32 repeated

Tensor's shape.

data float repeated

Tensor's underlying data.

drltt_proto/trajectory/trajectory.proto

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ReferenceLine

Reference line

FieldTypeLabelDescription
waypoints ReferenceLineWaypoint repeated

Sequence of waypoints.

ReferenceLineWaypoint

Reference line's waypoint.

TODO: move to body state

FieldTypeLabelDescription
x float optional

X-coordinate in [m]

y float optional

Y-coordinate in [m]

Trajectory

Trajectory

FieldTypeLabelDescription
waypoints TrajectoryWaypoint repeated

Sequence of waypoint

TrajectoryWaypoint

Trajectory's waypoint.

FieldTypeLabelDescription
state State optional

Sequence of states.

action Action optional

Sequence of actions.

drltt_proto/dynamics_model/observation.proto

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BicycleModelObservation

FieldTypeLabelDescription
feature float repeated

Vectorized feature.

Observation

FieldTypeLabelDescription
bicycle_model BicycleModelObservation optional

Obervation of bicycle model.

drltt_proto/dynamics_model/basics.proto

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BodyState

State coordinates in fixed space frame.

FieldTypeLabelDescription
x float optional

X-coordinate in [m].

y float optional

Y-coordinate in [m].

r float optional

Orientation/heading in [rad].

DebugInfo

TODO: move to higher level

FieldTypeLabelDescription
data float repeated

drltt_proto/dynamics_model/hyper_parameter.proto

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BicycleModelHyperParameter

FieldTypeLabelDescription
length float optional

Vehicle length in [m].

front_overhang float optional

Distance in [m] between vehicle front and fron axle.

rear_overhang float optional

Distance in [m] between vehicle rear and rear axle.

wheelbase float optional

Distance in [m] between front axle and rear axle.

width float optional

Vehicle width in [m].

frontwheel_to_cog float optional

Distance in [m] between front axle and center-of-gravity (CoG).

rearwheel_to_cog float optional

Distance in [m] between rear axle and center-of-gravity (CoG).

action_space_lb float repeated

Action space's lower bound.

action_space_ub float repeated

Action space's upper bound.

max_lat_acc float optional

Maximum lateral acceleration.

HyperParameter

TODO: add name field: LongVehicle/Truck/LongVehicle

FieldTypeLabelDescription
type string optional

The class name of the dynamics model.

name string optional

The name of dynamics model. E.g. short vehicle, long vehicle, etc.

bicycle_model BicycleModelHyperParameter optional

Bicycle model's hyper paramter.

drltt_proto/dynamics_model/action.proto

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Action

FieldTypeLabelDescription
bicycle_model BicycleModelAction optional

BicycleModelAction

FieldTypeLabelDescription
a float optional

Acceleration in [m/s/s].

s float optional

Steering angle in [rad].

drltt_proto/dynamics_model/state.proto

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BicycleModelState

FieldTypeLabelDescription
body_state BodyState

Sody state.

v float optional

Velocity in [m/s].

State

FieldTypeLabelDescription
bicycle_model BicycleModelState optional

State of bicycle model.

Scalar Value Types

.proto TypeNotesC++JavaPythonGoC#PHPRuby
double double double float float64 double float Float
float float float float float32 float float Float
int32 Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. int32 int int int32 int integer Bignum or Fixnum (as required)
int64 Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. int64 long int/long int64 long integer/string Bignum
uint32 Uses variable-length encoding. uint32 int int/long uint32 uint integer Bignum or Fixnum (as required)
uint64 Uses variable-length encoding. uint64 long int/long uint64 ulong integer/string Bignum or Fixnum (as required)
sint32 Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. int32 int int int32 int integer Bignum or Fixnum (as required)
sint64 Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. int64 long int/long int64 long integer/string Bignum
fixed32 Always four bytes. More efficient than uint32 if values are often greater than 2^28. uint32 int int uint32 uint integer Bignum or Fixnum (as required)
fixed64 Always eight bytes. More efficient than uint64 if values are often greater than 2^56. uint64 long int/long uint64 ulong integer/string Bignum
sfixed32 Always four bytes. int32 int int int32 int integer Bignum or Fixnum (as required)
sfixed64 Always eight bytes. int64 long int/long int64 long integer/string Bignum
bool bool boolean boolean bool bool boolean TrueClass/FalseClass
string A string must always contain UTF-8 encoded or 7-bit ASCII text. string String str/unicode string string string String (UTF-8)
bytes May contain any arbitrary sequence of bytes. string ByteString str []byte ByteString string String (ASCII-8BIT)