Planning: penalty dkappa instead of kappa on speed weight

modules/planning/conf/planner_open_space_config.pb.txt

@@ -18,7 +18,7 @@ warm_start_config {
   s_curve_config {
     acc_weight: 1.0
     jerk_weight: 0.0
-    kappa_penalty_weight: 100.0
+    dkappa_penalty_weight: 100.0
     ref_s_weight: 0.1
     ref_v_weight: 0.0
   }
@@ -124,7 +124,7 @@ iterative_anchoring_smoother_config {
   s_curve_config {
     acc_weight: 1.0
     jerk_weight: 1.0
-    kappa_penalty_weight: 100.0
+    dkappa_penalty_weight: 100.0
     ref_s_weight: 10.0
     ref_v_weight: 0.0
   }

modules/planning/conf/planning_config.pb.txt

@@ -33,7 +33,7 @@ default_task_config: {
   piecewise_jerk_speed_config {
     acc_weight: 1.0
     jerk_weight: 3.0
-    kappa_penalty_weight: 2000.0
+    dkappa_penalty_weight: 2000.0
     ref_s_weight: 10.0
     ref_v_weight: 10.0
   }
@@ -228,7 +228,7 @@ default_task_config: {
           s_curve_config {
             acc_weight: 1.0
             jerk_weight: 1.0
-            kappa_penalty_weight: 100.0
+            dkappa_penalty_weight: 100.0
             ref_s_weight: 10.0
             ref_v_weight: 0.0
           }

modules/planning/proto/piecewise_jerk_speed_config.proto

@@ -5,7 +5,7 @@ package apollo.planning;
 message PiecewiseJerkSpeedConfig {
   optional double acc_weight = 1 [default = 1.0];
   optional double jerk_weight = 2 [default = 10.0];
-  optional double kappa_penalty_weight = 3 [default = 1000.0];
+  optional double dkappa_penalty_weight = 3 [default = 1000.0];
   optional double ref_s_weight = 4 [default = 10.0];
   optional double ref_v_weight = 5 [default = 10.0];
 }

modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.cc

@@ -154,8 +154,8 @@ Status PiecewiseJerkSpeedOptimizer::Process(const PathData& path_data,
     x_ref.emplace_back(path_s);
     // get curvature
     PathPoint path_point = path_data.GetPathPointWithPathS(path_s);
-    penalty_dx.push_back(std::fabs(path_point.kappa()) *
-                         piecewise_jerk_speed_config.kappa_penalty_weight());
+    penalty_dx.push_back(std::fabs(path_point.dkappa()) *
+                         piecewise_jerk_speed_config.dkappa_penalty_weight());
     // get v_upper_bound
     const double v_lower_bound = 0.0;
     double v_upper_bound = FLAGS_planning_upper_speed_limit;