planning: reduce look_backward_boundary and enable reference line smooth

modules/planning/common/planning_gflags.cc

@@ -33,7 +33,7 @@ DEFINE_double(trajectory_resolution, 0.01,
               "output trajectory.");
 
 DEFINE_double(
-    look_backward_distance, 60,
+    look_backward_distance, 10,
     "look backward this distance when creating reference line from routing");
 
 DEFINE_double(

modules/planning/conf/planning.conf

 --flagfile=modules/common/data/global_flagfile.txt
 --adapter_config_path=modules/planning/conf/adapter.conf
 --nouse_ros_time
---noenable_smooth_reference_line

modules/planning/tasks/st_graph/st_boundary_mapper.cc

@@ -186,8 +186,9 @@ bool StBoundaryMapper::MapStopDecision(const PathObstacle& stop_obstacle,
   if (!path_data_.GetPathPointWithRefS(
           stop_obstacle.perception_sl_boundary().start_s(), &obstacle_point)) {
     AERROR << "Fail to get path point from reference s. The sl boundary of "
-              "stop obstacle is: "
-           << stop_obstacle.perception_sl_boundary().DebugString();
+              "stop obstacle "
+           << stop_obstacle.Id()
+           << " is: " << stop_obstacle.perception_sl_boundary().DebugString();
     return false;
   }
 
@@ -195,7 +196,8 @@ bool StBoundaryMapper::MapStopDecision(const PathObstacle& stop_obstacle,
       obstacle_point.s() + stop_decision.stop().distance_s() -
       vehicle_param_.front_edge_to_center() - FLAGS_decision_valid_stop_range;
   if (st_stop_s < 0.0) {
-    AERROR << "obstacle st stop_s " << st_stop_s << " is less than 0.";
+    AERROR << "obstacle " << stop_obstacle.Id() << " st stop_s " << st_stop_s
+           << " is less than 0.";
     return false;
   }
 

scripts/plot_planning.sh

+#!/usr/bin/env bash
+
+###############################################################################
+# 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.
+###############################################################################
+
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+cd "${DIR}/.."
+
+source "${DIR}/apollo_base.sh"
+
+python modules/tools/mapshow/plot_planning.py $@