add dp_st_speed_config.pb.txt and st_boundary_config_file.pb.txt. enable...

add dp_st_speed_config.pb.txt and st_boundary_config_file.pb.txt. enable QP_SPLINE_PATH_OPTIMIZER in conf.

modules/planning/conf/dp_st_speed_config.pb.txt

+total_path_length: 0.1
+total_time: 3.0
+matrix_dimension_s: 100
+matrix_dimension_t: 10
+
+speed_weight: 0.0
+accel_weight: 10.0
+jerk_weight: 10.0
+obstacle_weight: 1.0
+reference_weight: 0.0
+go_down_buffer: 5.0
+go_up_buffer: 5.0
+
+st_graph_default_point_cost: 1e10
+obstacle_cost_factor: -300
+
+default_speed_cost: 1.0
+exceed_speed_penalty: 10.0
+low_speed_penalty: 2.5
+
+accel_penalty: 2.0
+decel_penalty: 2.0
+
+positive_jerk_coeff: 1.0
+negative_jerk_coeff: 300.0
+
+max_speed: 20.0
+max_acceleration: 4.5
+max_deceleration: -4.5

modules/planning/conf/planning_config.pb.txt

@@ -2,4 +2,5 @@ planner_type: EM
 em_planner_config {
   optimizer: DP_POLY_PATH_OPTIMIZER
   optimizer: DP_ST_SPEED_OPTIMIZER
+  optimizer: QP_SPLINE_PATH_OPTIMIZER
 }
\ No newline at end of file

modules/planning/conf/st_boundary_config_file.pb.txt

+boundary_buffer: 0.1
+minimal_follow_time: 3.0
+follow_buffer: 1.0
+follow_coeff:1.0
+follow_speed_threshold: 10.0
+follow_speed_damping_factor: 0.7
+success_tunnel:0.01
+expending_coeff: 1.2
+follow_distance_buffer: 5.0
+centric_acceleration_limit: 1.0
+kappa_threshold: 0.04
+minimal_kappa: 0.00001
+maximal_speed: 25.0
+speed_limit_on_u_turn: 1.5
+point_extension: 1.0
+speed_multiply_buffer: 0.9
+lowest_speed: 2.5

modules/planning/planner/em/em_planner.cc

@@ -66,6 +66,7 @@ Status EMPlanner::Init(const PlanningConfig& config) {
   for (int i = 0; i < config.em_planner_config().optimizer_size(); ++i) {
     optimizers_.emplace_back(optimizer_factory_.CreateObject(
         config.em_planner_config().optimizer(i)));
+    AINFO << "Created optimizer:" << optimizers_.back()->name();
   }
   routing_proxy_.Init();
   for (auto& optimizer : optimizers_) {