planning: clean up unused gflags

modules/planning/common/planning_gflags.cc

@@ -187,8 +187,6 @@ DEFINE_bool(enable_nudge_decision, true, "enable nudge decision");
 DEFINE_bool(enable_nudge_slowdown, true,
             "True to slow down when nudge obstacles.");
 
-DEFINE_bool(try_history_decision, false, "try history decision first");
-
 DEFINE_double(static_decision_nudge_l_buffer, 0.5, "l buffer for nudge");
 DEFINE_double(lateral_ignore_buffer, 3.0,
               "If an obstacle's lateral distance is further away than this "
@@ -223,13 +221,6 @@ DEFINE_double(signal_expire_time_sec, 5.0,
               "consider the signal msg is expired if its timestamp over "
               "this threshold (second)");
 
-// Speed Decider
-DEFINE_double(low_speed_obstacle_threshold, 2.0,
-              "speed lower than this value is considered as low speed");
-DEFINE_double(
-    decelerating_obstacle_threshold, -0.25,
-    "acceleration lower than this value is considered as decelerating");
-
 // Prediction Part
 DEFINE_double(prediction_total_time, 5.0, "Total prediction time");
 DEFINE_bool(align_prediction_time, false,
@@ -359,8 +350,6 @@ DEFINE_double(perception_confidence_threshold, 0.4,
               "this threshold.");
 
 // QpSt optimizer
-DEFINE_bool(enable_slowdown_profile_generator, true,
-            "True to enable slowdown speed profile generator.");
 DEFINE_double(slowdown_profile_deceleration, -1.0,
               "The deceleration to generate slowdown profile. unit: m/s^2.");
 DEFINE_bool(enable_follow_accel_constraint, true,
@@ -382,8 +371,6 @@ DEFINE_bool(enable_multi_thread_in_dp_st_graph, false,
 
 /// Lattice Planner
 DEFINE_double(lattice_epsilon, 1e-6, "Epsilon in lattice planner.");
-DEFINE_int32(num_lattice_traj_to_plot, 5,
-             "Number of lattice trajectories to plot");
 DEFINE_double(default_cruise_speed, 5.0, "default cruise speed");
 DEFINE_double(spiral_downsample_curvature_thred, 0.02,
               "curvature threshold for down sampling reference line points");

modules/planning/common/planning_gflags.h

@@ -103,7 +103,6 @@ DECLARE_double(st_max_t);
 DECLARE_double(static_obstacle_speed_threshold);
 DECLARE_bool(enable_nudge_decision);
 DECLARE_bool(enable_nudge_slowdown);
-DECLARE_bool(try_history_decision);
 DECLARE_double(static_decision_nudge_l_buffer);
 DECLARE_double(lateral_ignore_buffer);
 DECLARE_double(min_stop_distance_obstacle);
@@ -134,12 +133,7 @@ DECLARE_bool(enable_prediction);
 DECLARE_double(turn_signal_distance);
 DECLARE_bool(right_turn_creep_forward);
 
-// speed decider
-DECLARE_double(low_speed_obstacle_threshold);
-DECLARE_double(decelerating_obstacle_threshold);
-
 // QpSt optimizer
-DECLARE_bool(enable_slowdown_profile_generator);
 DECLARE_double(slowdown_profile_deceleration);
 DECLARE_bool(enable_follow_accel_constraint);
 
@@ -177,7 +171,6 @@ DECLARE_double(stop_sign_stop_duration);
 DECLARE_double(stop_sign_min_pass_distance);
 DECLARE_double(stop_sign_stop_distance);
 DECLARE_double(stop_sign_max_watch_vehicle_stop_speed);
-DECLARE_double(stop_sign_creep_buffer);
 DECLARE_bool(enable_sidepass);
 DECLARE_double(sidepass_wait_time_sec);
 
@@ -198,7 +191,6 @@ DECLARE_bool(enable_multi_thread_in_dp_st_graph);
 
 // lattice planner
 DECLARE_double(lattice_epsilon);
-DECLARE_int32(num_lattice_traj_to_plot);
 DECLARE_double(default_cruise_speed);
 DECLARE_double(spiral_downsample_curvature_thred);
 DECLARE_bool(enable_lattice_st_image_dump);

modules/prediction/common/prediction_gflags.h

@@ -92,9 +92,6 @@ DECLARE_double(default_lateral_approach_speed);
 DECLARE_double(time_upper_bound_to_lane_center);
 DECLARE_double(time_lower_bound_to_lane_center);
 DECLARE_double(sample_time_gap);
-DECLARE_double(motion_weight_a);
-DECLARE_double(motion_weight_b);
-DECLARE_double(motion_weight_c);
 DECLARE_double(cost_alpha);
 DECLARE_double(default_time_to_lane_center);
 

modules/routing/common/routing_gflags.cc

 /******************************************************************************
-  * Copyright 2017 The Apollo Authors. All Rights Reserved.
-  *
-  * Licensed under the Apache License, Version 2.0 (the "License");
-  * you may not use this file except in compliance with the License.
-  * You may obtain a copy of the License at
-  *
-  * http://www.apache.org/licenses/LICENSE-2.0
-  *
-  * Unless required by applicable law or agreed to in writing, software
-  * distributed under the License is distributed on an "AS IS" BASIS,
-  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-  * See the License for the specific language governing permissions and
-  * limitations under the License.
-  *****************************************************************************/
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
 
 #include "modules/routing/common/routing_gflags.h"
 
@@ -25,8 +25,6 @@ DEFINE_string(routing_adapter_config_filename,
               "modules/routing/conf/adapter.conf",
               "The adapter config filename");
 
-DEFINE_bool(use_road_id, true, "enable use road id to cut routing result");
-
 DEFINE_double(min_length_for_lane_change, 30.48,
               "meters, which is 100 feet.  Minimum distance needs to travel on "
               "a lane before making a lane change. Recommended by "

modules/routing/common/routing_gflags.h

 /******************************************************************************
-  * Copyright 2017 The Apollo Authors. All Rights Reserved.
-  *
-  * Licensed under the Apache License, Version 2.0 (the "License");
-  * you may not use this file except in compliance with the License.
-  * You may obtain a copy of the License at
-  *
-  * http://www.apache.org/licenses/LICENSE-2.0
-  *
-  * Unless required by applicable law or agreed to in writing, software
-  * distributed under the License is distributed on an "AS IS" BASIS,
-  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-  * See the License for the specific language governing permissions and
-  * limitations under the License.
-  *****************************************************************************/
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
 
 #ifndef MODULES_ROUTING_COMMON_ROUTING_GFLAGS_H_
 #define MODULES_ROUTING_COMMON_ROUTING_GFLAGS_H_
@@ -24,7 +24,6 @@ DECLARE_string(routing_node_name);
 
 DECLARE_string(routing_adapter_config_filename);
 
-DECLARE_bool(use_road_id);
 DECLARE_double(min_length_for_lane_change);
 DECLARE_bool(enable_change_lane_in_result);