Planning: fixed broken test for obstacle stop.

modules/planning/conf/planning_config.pb.txt

@@ -127,13 +127,13 @@ em_planner_config {
 
 reference_line_smoother_config {
     num_spline: 6
-    spline_order: 7
-    num_evaluated_points: 30
+    spline_order: 6
+    num_evaluated_points: 25
     boundary_bound: 0.2
     derivative_bound: 1.0
     second_derivative_bound: 1.0
     third_derivative_bound: 1.0
-    ref_line_weight: 1.0
+    ref_line_weight: 0.0
     derivative_weight: 0.0
     second_derivative_weight: 0.0
     third_derivative_weight: 100.0

modules/planning/reference_line/reference_line_smoother.cc

@@ -172,7 +172,7 @@ bool ReferenceLineSmoother::ApplyConstraint(
   std::vector<double> lateral_bound;
   std::vector<common::math::Vec2d> xy_points;
   for (std::uint32_t i = 0; i < path_points.size(); ++i) {
-    const double kBoundCoeff = 0.2;
+    const double kBoundCoeff = 0.5;
     headings.push_back(path_points[i].theta());
     longitidinal_bound.push_back(kBoundCoeff *
                                  smoother_config_.boundary_bound());

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(153.6006, smoothed_reference_line.Length());
+  EXPECT_FLOAT_EQ(153.52477, smoothed_reference_line.Length());
 }
 
 }  // namespace planning

modules/planning/tasks/speed_optimizer.cc

@@ -58,10 +58,10 @@ void SpeedOptimizer::RecordSTGraphDebug(
     return;
   }
 
-  //auto debug = frame_->MutableADCTrajectory()->mutable_debug();
-  //auto st_graph_debug = debug->mutable_planning_data()->add_st_graph();
+  // auto debug = frame_->MutableADCTrajectory()->mutable_debug();
+  // auto st_graph_debug = debug->mutable_planning_data()->add_st_graph();
   st_graph_debug->set_name(Name());
-  for (const auto& boundary : boundaries) {
+  for (const auto boundary : boundaries) {
     auto boundary_debug = st_graph_debug->add_boundary();
     boundary_debug->set_name(boundary.id());
     switch (boundary.boundary_type()) {
@@ -92,14 +92,14 @@ void SpeedOptimizer::RecordSTGraphDebug(
         break;
     }
 
-    for (const auto& point : boundary.points()) {
+    for (const auto point : boundary.points()) {
       auto point_debug = boundary_debug->add_point();
       point_debug->set_t(point.x());
       point_debug->set_s(point.y());
     }
   }
 
-  for (const auto& point : speed_limits.speed_limit_points()) {
+  for (const auto point : speed_limits.speed_limit_points()) {
     common::SpeedPoint speed_point;
     speed_point.set_s(point.first);
     speed_point.set_v(point.second);