Planning: removed dependancy on reference line in qp_spline_path optimizer.

modules/planning/conf/planning_config.pb.txt

@@ -78,9 +78,9 @@ em_planner_config {
         number_of_fx_constraint_knots: 13
         time_resolution: 0.1
         regularization_weight: 0.1
-        derivative_weight: 1.0
-        second_derivative_weight: 0.0
-        third_derivative_weight: 10.0
+        derivative_weight: 10.0
+        second_derivative_weight: 1.0
+        third_derivative_weight: 1.0
         reference_line_weight: 0.0
         num_refline_point: 10
         num_output: 100
@@ -127,7 +127,7 @@ em_planner_config {
 }
 
 reference_line_smoother_config {
-    num_spline: 6
+    num_spline: 5
     spline_order: 6
     num_evaluated_points: 13
     boundary_bound: 0.2
@@ -137,7 +137,7 @@ reference_line_smoother_config {
     ref_line_weight: 0.0
     derivative_weight: 0.0
     second_derivative_weight: 0.0
-    third_derivative_weight: 100
+    third_derivative_weight: 100.0
     num_of_total_points: 500
 }
 

modules/planning/reference_line/reference_line_smoother.cc

@@ -203,7 +203,7 @@ bool ReferenceLineSmoother::apply_constraint(
   }
 
   if (!spline_solver_->mutable_constraint()
-           ->AddThirdDerivativeSmoothConstraint()) {
+           ->AddSecondDerivativeSmoothConstraint()) {
     AERROR << "Add jointness constraint failed";
     return false;
   }

modules/planning/reference_line/reference_line_smoother_test.cc

@@ -74,7 +74,7 @@ TEST_F(ReferenceLineSmootherTest, smooth) {
   ReferenceLine smoothed_reference_line;
   EXPECT_FLOAT_EQ(153.87421, reference_line_->Length());
   EXPECT_TRUE(smoother_.Smooth(*reference_line_, &smoothed_reference_line));
-  EXPECT_FLOAT_EQ(153.54385, smoothed_reference_line.Length());
+  EXPECT_FLOAT_EQ(153.3642, smoothed_reference_line.Length());
 }
 
 }  // namespace planning

modules/planning/tasks/dp_poly_path/dp_road_graph.cc

@@ -93,7 +93,6 @@ bool DPRoadGraph::FindPathTunnel(const common::TrajectoryPoint &init_point,
     accumulated_s += path_length;
   }
   FrenetFramePath tunnel(frenet_path);
-
   path_data->SetReferenceLine(&reference_line_);
   path_data->SetFrenetPath(tunnel);
   return true;

modules/planning/tasks/qp_spline_path/qp_spline_path_generator.cc

@@ -122,7 +122,9 @@ bool QpSplinePathGenerator::Generate(
     double l = spline(s);
     if (planning_debug->planning_data().sl_frame().size() >= 1) {
       auto sl_point = planning_debug->mutable_planning_data()
-          ->mutable_sl_frame(0)->mutable_sl_path()->Add();
+                          ->mutable_sl_frame(0)
+                          ->mutable_sl_path()
+                          ->Add();
       sl_point->set_l(l);
       sl_point->set_s(s);
     }
@@ -332,7 +334,6 @@ bool QpSplinePathGenerator::AddConstraint(
     AERROR << "Add spline joint third derivative constraint failed!";
     return false;
   }
-
   return true;
 }
 
@@ -358,14 +359,6 @@ void QpSplinePathGenerator::AddKernel() {
     spline_kernel->add_third_order_derivative_matrix(
         qp_spline_path_config_.third_derivative_weight());
   }
-
-  // reference line kernel
-  if (qp_spline_path_config_.number_of_knots() > 1 &&
-      qp_spline_path_config_.reference_line_weight() > 0) {
-    std::vector<double> l_vec(knots_.size(), 0.0);
-    spline_kernel->add_reference_line_kernel_matrix(
-        knots_, l_vec, qp_spline_path_config_.reference_line_weight());
-  }
 }
 
 bool QpSplinePathGenerator::Solve() {