// planning trajectory output time density control DEFINE_double( trajectory_time_min_interval, 0.02, "(seconds) Trajectory time interval when publish. The is the min value."); DEFINE_double( trajectory_time_max_interval, 0.1, "(seconds) Trajectory time interval when publish. The is the max value."); DEFINE_double( trajectory_time_high_density_period, 1.0, "(seconds) Keep high density in the next this amount of seconds. "); DEFINE_bool(enable_trajectory_check, false, "Enable sanity check for planning trajectory."); DEFINE_double(speed_lower_bound, -0.1, "The lowest speed allowed."); DEFINE_double(speed_upper_bound, 40.0, "The highest speed allowed."); DEFINE_double(longitudinal_acceleration_lower_bound, -6.0, "The lowest longitudinal acceleration allowed."); DEFINE_double(longitudinal_acceleration_upper_bound, 4.0, "The highest longitudinal acceleration allowed."); DEFINE_double(lateral_acceleration_bound, 4.0, "Bound of lateral acceleration; symmetric for left and right"); DEFINE_double(longitudinal_jerk_lower_bound, -4.0, "The lower bound of longitudinal jerk."); DEFINE_double(longitudinal_jerk_upper_bound, 2.0, "The upper bound of longitudinal jerk."); DEFINE_double(lateral_jerk_bound, 4.0, "Bound of lateral jerk; symmetric for left and right"); DEFINE_double(kappa_bound, 0.1979, "The bound for trajectory curvature");

这段代码是用于规划轨迹输出时间密度控制的参数定义。具体来说，它包括以下参数：

- `trajectory_time_min_interval`：发布轨迹时的时间间隔的最小值，以秒为单位，默认为0.02秒。
- `trajectory_time_max_interval`：发布轨迹时的时间间隔的最大值，以秒为单位，默认为0.1秒。
- `trajectory_time_high_density_period`：在接下来的指定秒数内保持高密度，默认为1.0秒。

此外，还有一些其他参数用于启用轨迹检查、设置速度范围、设置纵向加速度范围、设置横向加速度范围、设置纵向加速度变化率范围、设置横向加速度变化率范围以及设置曲率范围。

这些参数用于控制规划轨迹的输出，并且可以根据具体需求进行调整。