planning: unify output_trajectory_time_resolution and adjust output time...

planning: unify output_trajectory_time_resolution and adjust output time resultion from 0.01 to 0.1 s (#1006)

modules/planning/common/planning_gflags.cc

@@ -86,7 +86,7 @@ DEFINE_double(planning_upper_speed_limit, 31.3,
 DEFINE_double(trajectory_time_length, 8.0, "Trajectory time length");
 DEFINE_double(trajectory_time_resolution, 0.1,
               "Trajectory time resolution in planning");
-DEFINE_double(output_trajectory_time_resolution, 0.01,
+DEFINE_double(output_trajectory_time_resolution, 0.1,
               "Trajectory time resolution when publish for EM planner");
 
 DEFINE_bool(enable_trajectory_check, false,

modules/planning/conf/planning_config.pb.txt

@@ -88,7 +88,6 @@ em_planner_config {
     qp_st_speed_config {
         total_path_length: 250.0
         total_time: 8.0
-        output_time_resolution: 0.1
         preferred_max_acceleration: 1.2
         preferred_min_deceleration: -2.0
         max_acceleration: 2.0

modules/planning/proto/qp_st_speed_config.proto

@@ -28,10 +28,10 @@ message QpPiecewiseConfig {
   optional double follow_drag_distance = 8;
 }
 
+// next ID: 11
 message QpStSpeedConfig {
   optional double total_path_length = 1 [ default = 200.0 ];
   optional double total_time = 2 [ default = 6.0 ];
-  optional double output_time_resolution = 3 [ default = 0.05 ];
   optional double preferred_max_acceleration = 4 [ default = 1.2 ];
   optional double preferred_min_deceleration = 5 [ default = -1.8 ];
   optional double max_acceleration = 6 [ default = 2.0 ];

modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc

@@ -114,8 +114,7 @@ Status QpSplineStGraph::Search(const StGraphData& st_graph_data,
   speed_data->Clear();
   const Spline1d& spline = spline_generator_->spline();
 
-  const double t_output_resolution =
-      qp_st_speed_config_.output_time_resolution();
+  const double t_output_resolution = FLAGS_output_trajectory_time_resolution;
   double time = 0.0;
   while (time < qp_st_speed_config_.total_time() + t_output_resolution) {
     double s = spline(time);