From 0e35b31cf58fe6c9ef981b9b273c0e7de4da4313 Mon Sep 17 00:00:00 2001
From: Dong Li <lidong.main@gmail.com>
Date: Mon, 5 Mar 2018 14:05:19 -0800
Subject: [PATCH] planning: disable reference line stitching in navigation mode

---
 modules/planning/common/trajectory/trajectory_stitcher.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/modules/planning/common/trajectory/trajectory_stitcher.cc b/modules/planning/common/trajectory/trajectory_stitcher.cc
index f2e2b2d175..ef5b15ec18 100644
--- a/modules/planning/common/trajectory/trajectory_stitcher.cc
+++ b/modules/planning/common/trajectory/trajectory_stitcher.cc
@@ -22,6 +22,7 @@
 
 #include <algorithm>
 
+#include "modules/common/configs/config_gflags.h"
 #include "modules/common/log.h"
 #include "modules/planning/common/planning_gflags.h"
 
@@ -57,7 +58,7 @@ std::vector<TrajectoryPoint> TrajectoryStitcher::ComputeStitchingTrajectory(
     const double planning_cycle_time,
     const PublishableTrajectory* prev_trajectory, bool* is_replan) {
   *is_replan = true;
-  if (!FLAGS_enable_trajectory_stitcher) {
+  if (!FLAGS_enable_trajectory_stitcher || FLAGS_use_navigation_mode) {
     return ComputeReinitStitchingTrajectory(vehicle_state);
   }
   if (!prev_trajectory) {
-- 
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