Planning: removed low velocity threshold. Planning will report the idea...

Planning: removed low velocity threshold. Planning will report the idea trajectory and control will set a cut off number in its own algorithm.

modules/planning/common/planning_gflags.cc

@@ -157,5 +157,3 @@ DEFINE_double(slowdown_speed_threshold, 8.0,
               "this threshold. unit : m/s.");
 DEFINE_double(slowdown_profile_deceleration, -1.0,
               "The deceleration to generate slowdown profile. unit: m/s^2.");
-DEFINE_double(qp_st_low_velocity_threshold, 0.02,
-              "The low velocity threshold for control usage. unit: m/s.");

modules/planning/common/planning_gflags.h

@@ -95,6 +95,5 @@ DECLARE_bool(enable_prediction);
 DECLARE_bool(enable_slowdown_profile_generator);
 DECLARE_double(slowdown_speed_threshold);
 DECLARE_double(slowdown_profile_deceleration);
-DECLARE_double(qp_st_low_velocity_threshold);
 
 #endif  // MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_

modules/planning/tasks/qp_spline_st_speed/qp_spline_st_graph.cc

@@ -118,11 +118,6 @@ Status QpSplineStGraph::Search(const StGraphData& st_graph_data,
     double v = spline.Derivative(time);
     double a = spline.SecondOrderDerivative(time);
     double da = spline.ThirdOrderDerivative(time);
-    if (v < FLAGS_qp_st_low_velocity_threshold) {
-      v = 0.0;
-      a = 0.0;
-      da = 0.0;
-    }
     speed_data->AppendSpeedPoint(s, time, v, a, da);
     time += t_output_resolution;
   }