Planning: OpenSpace: refractor roi param to config

modules/planning/common/planning_gflags.cc

@@ -421,11 +421,6 @@ DEFINE_bool(enable_perception_obstacles, true,
 DEFINE_bool(enable_open_space_planner_thread, true,
             "Enable thread in open space planner for trajectory publish.");
 
-DEFINE_bool(
-    parking_inwards, false,
-    "true for parking the car inwards in parking spot, false for parking "
-    "the car towards the street");
-
 DEFINE_bool(open_space_planner_switchable, false,
             "true for std planning being able to switch to open space planner "
             "when close enough to target parking spot");

modules/planning/common/planning_gflags.h

@@ -221,7 +221,6 @@ DECLARE_string(planner_open_space_config_filename);
 DECLARE_double(open_space_planning_period);
 DECLARE_double(open_space_prediction_time_horizon);
 DECLARE_bool(enable_perception_obstacles);
-DECLARE_bool(parking_inwards);
 DECLARE_bool(enable_open_space_planner_thread);
 DECLARE_bool(open_space_planner_switchable);
 DECLARE_bool(use_dual_variable_warm_start);

modules/planning/conf/planner_open_space_config.pb.txt

@@ -6,6 +6,7 @@ is_near_destination_threshold : 0.05
 roi_config : {
   roi_longitudinal_range : 15.0
   parking_start_range : 12.0
+  parking_inwards : false
 }
 
 warm_start_config : {

modules/planning/conf/planning.conf

@@ -26,7 +26,6 @@
 #--default_qp_smoothing_eps_den=1e-3
 
 # --enable_perception_obstacles=false
-# --parking_inwards=false
 # --use_dual_variable_warm_start=true
 # --open_space_planner_switchable=true
 # --enable_open_space_planner_thread=true

modules/planning/open_space/constraints_formulation/open_space_ROI.cc

@@ -303,7 +303,7 @@ bool OpenSpaceROI::GetOpenSpaceROI() {
   double end_x = (left_top.x() + right_top.x()) / 2;
   double end_y = 0.0;
   if (parking_spot_heading_ > kMathEpsilon) {
-    if (FLAGS_parking_inwards) {
+    if (planner_open_space_config_.roi_config().parking_inwards()) {
       end_y = left_down.y() - std::max(3 * (left_down.y() - left_top.y()) / 4,
                                        vehicle_params_.front_edge_to_center());
     } else {
@@ -311,7 +311,7 @@ bool OpenSpaceROI::GetOpenSpaceROI() {
                                        vehicle_params_.back_edge_to_center());
     }
   } else {
-    if (FLAGS_parking_inwards) {
+    if (planner_open_space_config_.roi_config().parking_inwards()) {
       end_y = left_down.y() + std::max(3 * (left_top.y() - left_down.y()) / 4,
                                        vehicle_params_.front_edge_to_center());
     } else {
@@ -321,7 +321,7 @@ bool OpenSpaceROI::GetOpenSpaceROI() {
   }
   open_space_end_pose_.emplace_back(end_x);
   open_space_end_pose_.emplace_back(end_y);
-  if (FLAGS_parking_inwards) {
+  if (planner_open_space_config_.roi_config().parking_inwards()) {
     open_space_end_pose_.emplace_back(parking_spot_heading_);
   } else {
     open_space_end_pose_.emplace_back(

modules/planning/proto/planner_open_space_config.proto

@@ -19,10 +19,12 @@ message PlannerOpenSpaceConfig {
 }
 
 message ROIConfig {
-  // Hybrid A Star Warm Start
+  // longitudinal range of parking roi
   optional double roi_longitudinal_range = 1 [default = 10.0];
-  // Dual Variable Warm Start
+  // parking spot range detection threadhold
   optional double parking_start_range = 2 [default = 7.0];
+  // Parking orientation for reverse parking
+  optional bool parking_inwards = 3 [default = false];
 }
 
 message WarmStartConfig {
@@ -50,7 +52,7 @@ message DualVariableWarmStartConfig {
 }
 
 message DistanceApproachConfig {
-// For distance approach weight configs
+  // Distance approach weight configs
   repeated double weight_u = 1;
   repeated double weight_u_rate = 2;
   repeated double weight_state = 3;
@@ -68,7 +70,7 @@ message DistanceApproachConfig {
 }
 
 message IpoptConfig {
-  // ipopt configs
+  // Ipopt configs
   optional int32 ipopt_print_level = 1;
   optional int32 mumps_mem_percent = 2;
   optional double mumps_pivtol = 3;

modules/tools/open_space_visualization/open_space_roi_wrapper.cc

@@ -130,13 +130,13 @@ class OpenSpaceROITest {
     double end_x = (left_top.x() + right_top.x()) / 2;
     double end_y = 0.0;
     if (parking_spot_heading_ > kMathEpsilon) {
-      if (FLAGS_parking_inwards) {
+      if (planner_open_space_config_.roi_config().parking_inwards()) {
         end_y = left_top.y() + (left_down.y() - left_top.y()) / 4;
       } else {
         end_y = left_top.y() + 3 * (left_down.y() - left_top.y()) / 4;
       }
     } else {
-      if (FLAGS_parking_inwards) {
+      if (planner_open_space_config_.roi_config().parking_inwards()) {
         end_y = left_down.y() + 3 * (left_top.y() - left_down.y()) / 4;
       } else {
         end_y = left_down.y() + (left_top.y() - left_down.y()) / 4;
@@ -144,7 +144,7 @@ class OpenSpaceROITest {
     }
     open_space_end_pose_.emplace_back(end_x);
     open_space_end_pose_.emplace_back(end_y);
-    if (FLAGS_parking_inwards) {
+    if (planner_open_space_config_.roi_config().parking_inwards()) {
       open_space_end_pose_.emplace_back(parking_spot_heading_);
     } else {
       open_space_end_pose_.emplace_back(