# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler.  DO NOT EDIT!
# source: modules/planning/proto/planner_open_space_config.proto
"""Generated protocol buffer code."""
from google.protobuf.internal import enum_type_wrapper
from google.protobuf import descriptor as _descriptor
from google.protobuf import message as _message
from google.protobuf import reflection as _reflection
from google.protobuf import symbol_database as _symbol_database
# @@protoc_insertion_point(imports)

_sym_db = _symbol_database.Default()


from modules.planning.proto.math import fem_pos_deviation_smoother_config_pb2 as modules_dot_planning_dot_proto_dot_math_dot_fem__pos__deviation__smoother__config__pb2
from modules.planning.proto import task_config_pb2 as modules_dot_planning_dot_proto_dot_task__config__pb2


DESCRIPTOR = _descriptor.FileDescriptor(
  name='modules/planning/proto/planner_open_space_config.proto',
  package='apollo.planning',
  syntax='proto2',
  serialized_options=None,
  create_key=_descriptor._internal_create_key,
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  ,
  dependencies=[modules_dot_planning_dot_proto_dot_math_dot_fem__pos__deviation__smoother__config__pb2.DESCRIPTOR,modules_dot_planning_dot_proto_dot_task__config__pb2.DESCRIPTOR,])

_DUALWARMUPMODE = _descriptor.EnumDescriptor(
  name='DualWarmUpMode',
  full_name='apollo.planning.DualWarmUpMode',
  filename=None,
  file=DESCRIPTOR,
  create_key=_descriptor._internal_create_key,
  values=[
    _descriptor.EnumValueDescriptor(
      name='IPOPT', index=0, number=0,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='IPOPTQP', index=1, number=1,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='OSQP', index=2, number=2,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='DEBUG', index=3, number=3,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='SLACKQP', index=4, number=4,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
  ],
  containing_type=None,
  serialized_options=None,
  serialized_start=4164,
  serialized_end=4238,
)
_sym_db.RegisterEnumDescriptor(_DUALWARMUPMODE)

DualWarmUpMode = enum_type_wrapper.EnumTypeWrapper(_DUALWARMUPMODE)
_DISTANCEAPPROACHMODE = _descriptor.EnumDescriptor(
  name='DistanceApproachMode',
  full_name='apollo.planning.DistanceApproachMode',
  filename=None,
  file=DESCRIPTOR,
  create_key=_descriptor._internal_create_key,
  values=[
    _descriptor.EnumValueDescriptor(
      name='DISTANCE_APPROACH_IPOPT', index=0, number=0,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='DISTANCE_APPROACH_IPOPT_CUDA', index=1, number=1,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='DISTANCE_APPROACH_IPOPT_FIXED_TS', index=2, number=2,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='DISTANCE_APPROACH_IPOPT_FIXED_DUAL', index=3, number=3,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='DISTANCE_APPROACH_IPOPT_RELAX_END', index=4, number=4,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
    _descriptor.EnumValueDescriptor(
      name='DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK', index=5, number=5,
      serialized_options=None,
      type=None,
      create_key=_descriptor._internal_create_key),
  ],
  containing_type=None,
  serialized_options=None,
  serialized_start=4241,
  serialized_end=4488,
)
_sym_db.RegisterEnumDescriptor(_DISTANCEAPPROACHMODE)

DistanceApproachMode = enum_type_wrapper.EnumTypeWrapper(_DISTANCEAPPROACHMODE)
IPOPT = 0
IPOPTQP = 1
OSQP = 2
DEBUG = 3
SLACKQP = 4
DISTANCE_APPROACH_IPOPT = 0
DISTANCE_APPROACH_IPOPT_CUDA = 1
DISTANCE_APPROACH_IPOPT_FIXED_TS = 2
DISTANCE_APPROACH_IPOPT_FIXED_DUAL = 3
DISTANCE_APPROACH_IPOPT_RELAX_END = 4
DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK = 5



_PLANNEROPENSPACECONFIG = _descriptor.Descriptor(
  name='PlannerOpenSpaceConfig',
  full_name='apollo.planning.PlannerOpenSpaceConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='roi_config', full_name='apollo.planning.PlannerOpenSpaceConfig.roi_config', index=0,
      number=1, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='warm_start_config', full_name='apollo.planning.PlannerOpenSpaceConfig.warm_start_config', index=1,
      number=2, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='dual_variable_warm_start_config', full_name='apollo.planning.PlannerOpenSpaceConfig.dual_variable_warm_start_config', index=2,
      number=3, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='distance_approach_config', full_name='apollo.planning.PlannerOpenSpaceConfig.distance_approach_config', index=3,
      number=4, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='iterative_anchoring_smoother_config', full_name='apollo.planning.PlannerOpenSpaceConfig.iterative_anchoring_smoother_config', index=4,
      number=5, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='trajectory_partition_config', full_name='apollo.planning.PlannerOpenSpaceConfig.trajectory_partition_config', index=5,
      number=6, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='delta_t', full_name='apollo.planning.PlannerOpenSpaceConfig.delta_t', index=6,
      number=7, type=2, cpp_type=6, label=1,
      has_default_value=True, default_value=float(1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='is_near_destination_threshold', full_name='apollo.planning.PlannerOpenSpaceConfig.is_near_destination_threshold', index=7,
      number=8, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.001),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_check_parallel_trajectory', full_name='apollo.planning.PlannerOpenSpaceConfig.enable_check_parallel_trajectory', index=8,
      number=9, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_linear_interpolation', full_name='apollo.planning.PlannerOpenSpaceConfig.enable_linear_interpolation', index=9,
      number=10, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='is_near_destination_theta_threshold', full_name='apollo.planning.PlannerOpenSpaceConfig.is_near_destination_theta_threshold', index=10,
      number=11, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.05),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=187,
  serialized_end=861,
)


_ROICONFIG = _descriptor.Descriptor(
  name='ROIConfig',
  full_name='apollo.planning.ROIConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='roi_longitudinal_range_start', full_name='apollo.planning.ROIConfig.roi_longitudinal_range_start', index=0,
      number=1, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(10),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='roi_longitudinal_range_end', full_name='apollo.planning.ROIConfig.roi_longitudinal_range_end', index=1,
      number=2, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(10),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='parking_start_range', full_name='apollo.planning.ROIConfig.parking_start_range', index=2,
      number=3, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(7),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='parking_inwards', full_name='apollo.planning.ROIConfig.parking_inwards', index=3,
      number=4, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=864,
  serialized_end=1021,
)


_WARMSTARTCONFIG = _descriptor.Descriptor(
  name='WarmStartConfig',
  full_name='apollo.planning.WarmStartConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='xy_grid_resolution', full_name='apollo.planning.WarmStartConfig.xy_grid_resolution', index=0,
      number=1, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='phi_grid_resolution', full_name='apollo.planning.WarmStartConfig.phi_grid_resolution', index=1,
      number=2, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.05),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='next_node_num', full_name='apollo.planning.WarmStartConfig.next_node_num', index=2,
      number=3, type=4, cpp_type=4, label=1,
      has_default_value=True, default_value=10,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='step_size', full_name='apollo.planning.WarmStartConfig.step_size', index=3,
      number=4, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.5),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='traj_forward_penalty', full_name='apollo.planning.WarmStartConfig.traj_forward_penalty', index=4,
      number=5, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='traj_back_penalty', full_name='apollo.planning.WarmStartConfig.traj_back_penalty', index=5,
      number=6, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='traj_gear_switch_penalty', full_name='apollo.planning.WarmStartConfig.traj_gear_switch_penalty', index=6,
      number=7, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(10),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='traj_steer_penalty', full_name='apollo.planning.WarmStartConfig.traj_steer_penalty', index=7,
      number=8, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(100),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='traj_steer_change_penalty', full_name='apollo.planning.WarmStartConfig.traj_steer_change_penalty', index=8,
      number=9, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(10),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='grid_a_star_xy_resolution', full_name='apollo.planning.WarmStartConfig.grid_a_star_xy_resolution', index=9,
      number=15, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='node_radius', full_name='apollo.planning.WarmStartConfig.node_radius', index=10,
      number=16, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.5),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='s_curve_config', full_name='apollo.planning.WarmStartConfig.s_curve_config', index=11,
      number=17, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=1024,
  serialized_end=1475,
)


_DUALVARIABLEWARMSTARTCONFIG = _descriptor.Descriptor(
  name='DualVariableWarmStartConfig',
  full_name='apollo.planning.DualVariableWarmStartConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='weight_d', full_name='apollo.planning.DualVariableWarmStartConfig.weight_d', index=0,
      number=1, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_config', full_name='apollo.planning.DualVariableWarmStartConfig.ipopt_config', index=1,
      number=2, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='qp_format', full_name='apollo.planning.DualVariableWarmStartConfig.qp_format', index=2,
      number=3, type=14, cpp_type=8, label=1,
      has_default_value=False, default_value=0,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='min_safety_distance', full_name='apollo.planning.DualVariableWarmStartConfig.min_safety_distance', index=3,
      number=4, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='debug_osqp', full_name='apollo.planning.DualVariableWarmStartConfig.debug_osqp', index=4,
      number=5, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='beta', full_name='apollo.planning.DualVariableWarmStartConfig.beta', index=5,
      number=6, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='osqp_config', full_name='apollo.planning.DualVariableWarmStartConfig.osqp_config', index=6,
      number=7, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=1478,
  serialized_end=1758,
)


_DISTANCEAPPROACHCONFIG = _descriptor.Descriptor(
  name='DistanceApproachConfig',
  full_name='apollo.planning.DistanceApproachConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='weight_steer', full_name='apollo.planning.DistanceApproachConfig.weight_steer', index=0,
      number=1, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_a', full_name='apollo.planning.DistanceApproachConfig.weight_a', index=1,
      number=2, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_steer_rate', full_name='apollo.planning.DistanceApproachConfig.weight_steer_rate', index=2,
      number=3, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_a_rate', full_name='apollo.planning.DistanceApproachConfig.weight_a_rate', index=3,
      number=4, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_x', full_name='apollo.planning.DistanceApproachConfig.weight_x', index=4,
      number=5, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_y', full_name='apollo.planning.DistanceApproachConfig.weight_y', index=5,
      number=6, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_phi', full_name='apollo.planning.DistanceApproachConfig.weight_phi', index=6,
      number=7, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_v', full_name='apollo.planning.DistanceApproachConfig.weight_v', index=7,
      number=8, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_steer_stitching', full_name='apollo.planning.DistanceApproachConfig.weight_steer_stitching', index=8,
      number=9, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_a_stitching', full_name='apollo.planning.DistanceApproachConfig.weight_a_stitching', index=9,
      number=10, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_first_order_time', full_name='apollo.planning.DistanceApproachConfig.weight_first_order_time', index=10,
      number=11, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_second_order_time', full_name='apollo.planning.DistanceApproachConfig.weight_second_order_time', index=11,
      number=12, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='min_safety_distance', full_name='apollo.planning.DistanceApproachConfig.min_safety_distance', index=12,
      number=13, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_speed_forward', full_name='apollo.planning.DistanceApproachConfig.max_speed_forward', index=13,
      number=14, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(3),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_speed_reverse', full_name='apollo.planning.DistanceApproachConfig.max_speed_reverse', index=14,
      number=15, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_acceleration_forward', full_name='apollo.planning.DistanceApproachConfig.max_acceleration_forward', index=15,
      number=16, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_acceleration_reverse', full_name='apollo.planning.DistanceApproachConfig.max_acceleration_reverse', index=16,
      number=17, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='min_time_sample_scaling', full_name='apollo.planning.DistanceApproachConfig.min_time_sample_scaling', index=17,
      number=18, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_time_sample_scaling', full_name='apollo.planning.DistanceApproachConfig.max_time_sample_scaling', index=18,
      number=19, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(10),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='use_fix_time', full_name='apollo.planning.DistanceApproachConfig.use_fix_time', index=19,
      number=20, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_config', full_name='apollo.planning.DistanceApproachConfig.ipopt_config', index=20,
      number=21, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_constraint_check', full_name='apollo.planning.DistanceApproachConfig.enable_constraint_check', index=21,
      number=22, type=8, cpp_type=7, label=1,
      has_default_value=False, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_hand_derivative', full_name='apollo.planning.DistanceApproachConfig.enable_hand_derivative', index=22,
      number=23, type=8, cpp_type=7, label=1,
      has_default_value=False, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_derivative_check', full_name='apollo.planning.DistanceApproachConfig.enable_derivative_check', index=23,
      number=24, type=8, cpp_type=7, label=1,
      has_default_value=False, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_initial_final_check', full_name='apollo.planning.DistanceApproachConfig.enable_initial_final_check', index=24,
      number=25, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='distance_approach_mode', full_name='apollo.planning.DistanceApproachConfig.distance_approach_mode', index=25,
      number=26, type=14, cpp_type=8, label=1,
      has_default_value=False, default_value=0,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_jacobian_ad', full_name='apollo.planning.DistanceApproachConfig.enable_jacobian_ad', index=26,
      number=27, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='enable_check_initial_state', full_name='apollo.planning.DistanceApproachConfig.enable_check_initial_state', index=27,
      number=28, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_end_state', full_name='apollo.planning.DistanceApproachConfig.weight_end_state', index=28,
      number=29, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='weight_slack', full_name='apollo.planning.DistanceApproachConfig.weight_slack', index=29,
      number=30, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=1761,
  serialized_end=2742,
)


_IPOPTCONFIG = _descriptor.Descriptor(
  name='IpoptConfig',
  full_name='apollo.planning.IpoptConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='ipopt_print_level', full_name='apollo.planning.IpoptConfig.ipopt_print_level', index=0,
      number=1, type=5, cpp_type=1, label=1,
      has_default_value=False, default_value=0,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='mumps_mem_percent', full_name='apollo.planning.IpoptConfig.mumps_mem_percent', index=1,
      number=2, type=5, cpp_type=1, label=1,
      has_default_value=False, default_value=0,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='mumps_pivtol', full_name='apollo.planning.IpoptConfig.mumps_pivtol', index=2,
      number=3, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_max_iter', full_name='apollo.planning.IpoptConfig.ipopt_max_iter', index=3,
      number=4, type=5, cpp_type=1, label=1,
      has_default_value=False, default_value=0,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_tol', full_name='apollo.planning.IpoptConfig.ipopt_tol', index=4,
      number=5, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_acceptable_constr_viol_tol', full_name='apollo.planning.IpoptConfig.ipopt_acceptable_constr_viol_tol', index=5,
      number=6, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_min_hessian_perturbation', full_name='apollo.planning.IpoptConfig.ipopt_min_hessian_perturbation', index=6,
      number=7, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_jacobian_regularization_value', full_name='apollo.planning.IpoptConfig.ipopt_jacobian_regularization_value', index=7,
      number=8, type=1, cpp_type=5, label=1,
      has_default_value=False, default_value=float(0),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_print_timing_statistics', full_name='apollo.planning.IpoptConfig.ipopt_print_timing_statistics', index=8,
      number=9, type=9, cpp_type=9, label=1,
      has_default_value=False, default_value=b"".decode('utf-8'),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_alpha_for_y', full_name='apollo.planning.IpoptConfig.ipopt_alpha_for_y', index=9,
      number=10, type=9, cpp_type=9, label=1,
      has_default_value=False, default_value=b"".decode('utf-8'),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_recalc_y', full_name='apollo.planning.IpoptConfig.ipopt_recalc_y', index=10,
      number=11, type=9, cpp_type=9, label=1,
      has_default_value=False, default_value=b"".decode('utf-8'),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='ipopt_mu_init', full_name='apollo.planning.IpoptConfig.ipopt_mu_init', index=11,
      number=12, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=2745,
  serialized_end=3122,
)


_OSQPCONFIG = _descriptor.Descriptor(
  name='OSQPConfig',
  full_name='apollo.planning.OSQPConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='alpha', full_name='apollo.planning.OSQPConfig.alpha', index=0,
      number=1, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='eps_abs', full_name='apollo.planning.OSQPConfig.eps_abs', index=1,
      number=2, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.001),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='eps_rel', full_name='apollo.planning.OSQPConfig.eps_rel', index=2,
      number=3, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.001),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_iter', full_name='apollo.planning.OSQPConfig.max_iter', index=3,
      number=4, type=5, cpp_type=1, label=1,
      has_default_value=True, default_value=10000,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='polish', full_name='apollo.planning.OSQPConfig.polish', index=4,
      number=5, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=True,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='osqp_debug_log', full_name='apollo.planning.OSQPConfig.osqp_debug_log', index=5,
      number=6, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=3125,
  serialized_end=3281,
)


_ITERATIVEANCHORINGCONFIG = _descriptor.Descriptor(
  name='IterativeAnchoringConfig',
  full_name='apollo.planning.IterativeAnchoringConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='interpolated_delta_s', full_name='apollo.planning.IterativeAnchoringConfig.interpolated_delta_s', index=0,
      number=1, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='reanchoring_trails_num', full_name='apollo.planning.IterativeAnchoringConfig.reanchoring_trails_num', index=1,
      number=2, type=5, cpp_type=1, label=1,
      has_default_value=True, default_value=50,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='reanchoring_pos_stddev', full_name='apollo.planning.IterativeAnchoringConfig.reanchoring_pos_stddev', index=2,
      number=3, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.25),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='reanchoring_length_stddev', full_name='apollo.planning.IterativeAnchoringConfig.reanchoring_length_stddev', index=3,
      number=4, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(1),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='estimate_bound', full_name='apollo.planning.IterativeAnchoringConfig.estimate_bound', index=4,
      number=5, type=8, cpp_type=7, label=1,
      has_default_value=True, default_value=False,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='default_bound', full_name='apollo.planning.IterativeAnchoringConfig.default_bound', index=5,
      number=6, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='vehicle_shortest_dimension', full_name='apollo.planning.IterativeAnchoringConfig.vehicle_shortest_dimension', index=6,
      number=7, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(1.04),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='fem_pos_deviation_smoother_config', full_name='apollo.planning.IterativeAnchoringConfig.fem_pos_deviation_smoother_config', index=7,
      number=8, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='collision_decrease_ratio', full_name='apollo.planning.IterativeAnchoringConfig.collision_decrease_ratio', index=8,
      number=9, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.9),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_forward_v', full_name='apollo.planning.IterativeAnchoringConfig.max_forward_v', index=9,
      number=10, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_reverse_v', full_name='apollo.planning.IterativeAnchoringConfig.max_reverse_v', index=10,
      number=11, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_forward_acc', full_name='apollo.planning.IterativeAnchoringConfig.max_forward_acc', index=11,
      number=12, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(3),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_reverse_acc', full_name='apollo.planning.IterativeAnchoringConfig.max_reverse_acc', index=12,
      number=13, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='max_acc_jerk', full_name='apollo.planning.IterativeAnchoringConfig.max_acc_jerk', index=13,
      number=14, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(4),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='delta_t', full_name='apollo.planning.IterativeAnchoringConfig.delta_t', index=14,
      number=15, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='s_curve_config', full_name='apollo.planning.IterativeAnchoringConfig.s_curve_config', index=15,
      number=16, type=11, cpp_type=10, label=1,
      has_default_value=False, default_value=None,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=3284,
  serialized_end=3917,
)


_TRAJECTORYPARTITIONCONFIG = _descriptor.Descriptor(
  name='TrajectoryPartitionConfig',
  full_name='apollo.planning.TrajectoryPartitionConfig',
  filename=None,
  file=DESCRIPTOR,
  containing_type=None,
  create_key=_descriptor._internal_create_key,
  fields=[
    _descriptor.FieldDescriptor(
      name='interpolated_pieces_num', full_name='apollo.planning.TrajectoryPartitionConfig.interpolated_pieces_num', index=0,
      number=1, type=4, cpp_type=4, label=1,
      has_default_value=True, default_value=50,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='initial_gear_check_horizon', full_name='apollo.planning.TrajectoryPartitionConfig.initial_gear_check_horizon', index=1,
      number=2, type=4, cpp_type=4, label=1,
      has_default_value=True, default_value=3,
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='heading_searching_range', full_name='apollo.planning.TrajectoryPartitionConfig.heading_searching_range', index=2,
      number=3, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.3),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='gear_shift_period_duration', full_name='apollo.planning.TrajectoryPartitionConfig.gear_shift_period_duration', index=3,
      number=4, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(2),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='gear_shift_max_t', full_name='apollo.planning.TrajectoryPartitionConfig.gear_shift_max_t', index=4,
      number=5, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(3),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
    _descriptor.FieldDescriptor(
      name='gear_shift_unit_t', full_name='apollo.planning.TrajectoryPartitionConfig.gear_shift_unit_t', index=5,
      number=6, type=1, cpp_type=5, label=1,
      has_default_value=True, default_value=float(0.02),
      message_type=None, enum_type=None, containing_type=None,
      is_extension=False, extension_scope=None,
      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
  ],
  extensions=[
  ],
  nested_types=[],
  enum_types=[
  ],
  serialized_options=None,
  is_extendable=False,
  syntax='proto2',
  extension_ranges=[],
  oneofs=[
  ],
  serialized_start=3920,
  serialized_end=4162,
)

_PLANNEROPENSPACECONFIG.fields_by_name['roi_config'].message_type = _ROICONFIG
_PLANNEROPENSPACECONFIG.fields_by_name['warm_start_config'].message_type = _WARMSTARTCONFIG
_PLANNEROPENSPACECONFIG.fields_by_name['dual_variable_warm_start_config'].message_type = _DUALVARIABLEWARMSTARTCONFIG
_PLANNEROPENSPACECONFIG.fields_by_name['distance_approach_config'].message_type = _DISTANCEAPPROACHCONFIG
_PLANNEROPENSPACECONFIG.fields_by_name['iterative_anchoring_smoother_config'].message_type = _ITERATIVEANCHORINGCONFIG
_PLANNEROPENSPACECONFIG.fields_by_name['trajectory_partition_config'].message_type = _TRAJECTORYPARTITIONCONFIG
_WARMSTARTCONFIG.fields_by_name['s_curve_config'].message_type = modules_dot_planning_dot_proto_dot_task__config__pb2._PIECEWISEJERKSPEEDOPTIMIZERCONFIG
_DUALVARIABLEWARMSTARTCONFIG.fields_by_name['ipopt_config'].message_type = _IPOPTCONFIG
_DUALVARIABLEWARMSTARTCONFIG.fields_by_name['qp_format'].enum_type = _DUALWARMUPMODE
_DUALVARIABLEWARMSTARTCONFIG.fields_by_name['osqp_config'].message_type = _OSQPCONFIG
_DISTANCEAPPROACHCONFIG.fields_by_name['ipopt_config'].message_type = _IPOPTCONFIG
_DISTANCEAPPROACHCONFIG.fields_by_name['distance_approach_mode'].enum_type = _DISTANCEAPPROACHMODE
_ITERATIVEANCHORINGCONFIG.fields_by_name['fem_pos_deviation_smoother_config'].message_type = modules_dot_planning_dot_proto_dot_math_dot_fem__pos__deviation__smoother__config__pb2._FEMPOSDEVIATIONSMOOTHERCONFIG
_ITERATIVEANCHORINGCONFIG.fields_by_name['s_curve_config'].message_type = modules_dot_planning_dot_proto_dot_task__config__pb2._PIECEWISEJERKSPEEDOPTIMIZERCONFIG
DESCRIPTOR.message_types_by_name['PlannerOpenSpaceConfig'] = _PLANNEROPENSPACECONFIG
DESCRIPTOR.message_types_by_name['ROIConfig'] = _ROICONFIG
DESCRIPTOR.message_types_by_name['WarmStartConfig'] = _WARMSTARTCONFIG
DESCRIPTOR.message_types_by_name['DualVariableWarmStartConfig'] = _DUALVARIABLEWARMSTARTCONFIG
DESCRIPTOR.message_types_by_name['DistanceApproachConfig'] = _DISTANCEAPPROACHCONFIG
DESCRIPTOR.message_types_by_name['IpoptConfig'] = _IPOPTCONFIG
DESCRIPTOR.message_types_by_name['OSQPConfig'] = _OSQPCONFIG
DESCRIPTOR.message_types_by_name['IterativeAnchoringConfig'] = _ITERATIVEANCHORINGCONFIG
DESCRIPTOR.message_types_by_name['TrajectoryPartitionConfig'] = _TRAJECTORYPARTITIONCONFIG
DESCRIPTOR.enum_types_by_name['DualWarmUpMode'] = _DUALWARMUPMODE
DESCRIPTOR.enum_types_by_name['DistanceApproachMode'] = _DISTANCEAPPROACHMODE
_sym_db.RegisterFileDescriptor(DESCRIPTOR)

PlannerOpenSpaceConfig = _reflection.GeneratedProtocolMessageType('PlannerOpenSpaceConfig', (_message.Message,), {
  'DESCRIPTOR' : _PLANNEROPENSPACECONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.PlannerOpenSpaceConfig)
  })
_sym_db.RegisterMessage(PlannerOpenSpaceConfig)

ROIConfig = _reflection.GeneratedProtocolMessageType('ROIConfig', (_message.Message,), {
  'DESCRIPTOR' : _ROICONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.ROIConfig)
  })
_sym_db.RegisterMessage(ROIConfig)

WarmStartConfig = _reflection.GeneratedProtocolMessageType('WarmStartConfig', (_message.Message,), {
  'DESCRIPTOR' : _WARMSTARTCONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.WarmStartConfig)
  })
_sym_db.RegisterMessage(WarmStartConfig)

DualVariableWarmStartConfig = _reflection.GeneratedProtocolMessageType('DualVariableWarmStartConfig', (_message.Message,), {
  'DESCRIPTOR' : _DUALVARIABLEWARMSTARTCONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.DualVariableWarmStartConfig)
  })
_sym_db.RegisterMessage(DualVariableWarmStartConfig)

DistanceApproachConfig = _reflection.GeneratedProtocolMessageType('DistanceApproachConfig', (_message.Message,), {
  'DESCRIPTOR' : _DISTANCEAPPROACHCONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.DistanceApproachConfig)
  })
_sym_db.RegisterMessage(DistanceApproachConfig)

IpoptConfig = _reflection.GeneratedProtocolMessageType('IpoptConfig', (_message.Message,), {
  'DESCRIPTOR' : _IPOPTCONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.IpoptConfig)
  })
_sym_db.RegisterMessage(IpoptConfig)

OSQPConfig = _reflection.GeneratedProtocolMessageType('OSQPConfig', (_message.Message,), {
  'DESCRIPTOR' : _OSQPCONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.OSQPConfig)
  })
_sym_db.RegisterMessage(OSQPConfig)

IterativeAnchoringConfig = _reflection.GeneratedProtocolMessageType('IterativeAnchoringConfig', (_message.Message,), {
  'DESCRIPTOR' : _ITERATIVEANCHORINGCONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.IterativeAnchoringConfig)
  })
_sym_db.RegisterMessage(IterativeAnchoringConfig)

TrajectoryPartitionConfig = _reflection.GeneratedProtocolMessageType('TrajectoryPartitionConfig', (_message.Message,), {
  'DESCRIPTOR' : _TRAJECTORYPARTITIONCONFIG,
  '__module__' : 'modules.planning.proto.planner_open_space_config_pb2'
  # @@protoc_insertion_point(class_scope:apollo.planning.TrajectoryPartitionConfig)
  })
_sym_db.RegisterMessage(TrajectoryPartitionConfig)


# @@protoc_insertion_point(module_scope)
