Planning: re-enable CUDA in open space planner

modules/planning/open_space/trajectory_smoother/BUILD

@@ -98,8 +98,7 @@ cc_library(
     hdrs = ["distance_approach_problem.h"],
     copts = PLANNING_FOPENMP,
     deps = [
-        # TODO(xiaoxq): Disable CUDA in planning temporarily.
-        # ":distance_approach_ipopt_cuda_interface",
+        ":distance_approach_ipopt_cuda_interface",
         ":distance_approach_ipopt_fixed_dual_interface",
         ":distance_approach_ipopt_fixed_ts_interface",
         ":distance_approach_ipopt_interface",

modules/planning/open_space/trajectory_smoother/distance_approach_problem.cc

@@ -63,14 +63,12 @@ bool DistanceApproachProblem::Solve(
         horizon, ts, ego, xWS, uWS, l_warm_up, n_warm_up, x0, xF, last_time_u,
         XYbounds, obstacles_edges_num, obstacles_num, obstacles_A, obstacles_b,
         planner_open_space_config_);
-    // TODO(xiaoxq): Disable CUDA in planning temporarily.
-    // } else if (planner_open_space_config_.distance_approach_config()
-    //              .distance_approach_mode() == DISTANCE_APPROACH_IPOPT_CUDA) {
-    //   ptop = new DistanceApproachIPOPTCUDAInterface(
-    //       horizon, ts, ego, xWS, uWS, l_warm_up, n_warm_up, x0, xF,
-    //       last_time_u, XYbounds, obstacles_edges_num, obstacles_num,
-    //       obstacles_A, obstacles_b, planner_open_space_config_);
-    // }
+  } else if (planner_open_space_config_.distance_approach_config()
+                 .distance_approach_mode() == DISTANCE_APPROACH_IPOPT_CUDA) {
+    ptop = new DistanceApproachIPOPTCUDAInterface(
+        horizon, ts, ego, xWS, uWS, l_warm_up, n_warm_up, x0, xF, last_time_u,
+        XYbounds, obstacles_edges_num, obstacles_num, obstacles_A, obstacles_b,
+        planner_open_space_config_);
   } else if (planner_open_space_config_.distance_approach_config()
                  .distance_approach_mode() ==
              DISTANCE_APPROACH_IPOPT_FIXED_DUAL) {

modules/planning/open_space/trajectory_smoother/distance_approach_problem.h

@@ -22,18 +22,20 @@
 
 #include <vector>
 
-#include "Eigen/Dense"
-
 #include <coin/IpIpoptApplication.hpp>
 #include <coin/IpSolveStatistics.hpp>
 
+#include "Eigen/Dense"
+
+#include "modules/planning/proto/planning.pb.h"
+
 #include "modules/planning/common/planning_gflags.h"
+#include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_cuda_interface.h"
 #include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_fixed_dual_interface.h"
 #include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_fixed_ts_interface.h"
 #include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.h"
 #include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_relax_end_interface.h"
 #include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_relax_end_slack_interface.h"
-#include "modules/planning/proto/planning.pb.h"
 
 namespace apollo {
 namespace planning {