Is planning module deterministic?

[YuqiHuai]

Hi!

I want to ask about whether the output of the planning module is deterministic: given the same input, we always get the same output.

I found @jmtao 's comment at https://github.com/ApolloAuto/apollo/issues/11268#issuecomment-646842161

We use these test cases to make sure planning's output is fixed and determined based on the same set of input.

and I noticed some of those tests are actually disabled since 2019 https://github.com/ApolloAuto/apollo/commit/d524204e82927c384b555004f01c5293504d4de8 https://github.com/ApolloAuto/apollo/blob/986fe474272413fca0621b245d1c7aa6a1e75316/modules/planning/integration_tests/BUILD#L26

I ran the only enabled test sunnyvale_big_loop_test for a couple times and had same results. I could not run other tests because I do not know how to solve those undefined references.

Questions:

1. Is the output of planning module supposed to be deterministic?
2. In the current version, is planning module deterministic?
3. Will those disabled tests be fixed and enabled sometime soon?

Additional Question:

1. How can I check coverage information of a test case? I tried bazel coverage --instrument_test_targets --combined_report=lcov //modules/planning/integration_tests:sunnyvale_big_loop_test and got error: cannot open bazel-out/k8-fastbuild/bin/modules/planning/lattice/trajectory_generation/_objs/piecewise_braking_trajectory_generator/piecewise_braking_trajectory_generator.pic.gcno I am not very familiar with Bazel and I am not sure about what I am missing.

[qwetqwe]

1. Some parameters are related with time, like stitching trajectory. Even if input message is same, but in different time planning start point is different.
2. No. the reason is like before.
3. We do not have this plan now. You can integrate test by Sim Control simulation.

[YuqiHuai]

@qwetqwe Hi! Thanks for responding. You can close this issue.