必需日志:
routing.log(船体位置/朝向/mission_state)
route.log(全局路线 global_route) |
可选日志:
bridge.log(桥区域, 缺失时不绘制)
必需日志:
frame.log(origin_point/vessel_state/routing_response/
roi_boundary_data/history_path_lla/scenario_data/planning_frame_data 含栅格图)
routeLine.log(route_line)
trajectory.log(规划轨迹) |
可选日志:
route.log(smoothed_route, 当前未直接绘制)
提示: 栅格底图为尽力还原效果(按所选船型的 map_size/map_step 解码 grid_map_string);
encounter_areas / hard_buffer / 预测轨迹依赖 planning 算法实时计算, 日志中无对应数据, 未绘制。
必需日志:
routing.log(is_autonomous/vessel_state/mission_state 等)
route.log(global_route + smoothed_route)
routeLine.log(route_line)
trajectory.log(规划轨迹 + macro_trajectory_path_lla + speed_boundary)
bridge.log(桥区域) |
可选日志:
frame.log(仅取 avoidance_level 文本)