Planning: OpenSpace: trajectory partition restartable

modules/planning/open_space/trajectory_partition/trajectory_partitioner.cc

@@ -362,5 +362,12 @@ void TrajectoryPartitioner::GenerateGearShiftTrajectory(
   trajectory_pb->set_gear(gear_position);
 }
 
+void TrajectoryPartitioner::Restart() {
+  gear_shift_period_finished_ = true;
+  gear_shift_period_started_ = true;
+  gear_shift_period_time_ = 0.0;
+  gear_shift_start_time_ = 0.0;
+  gear_shift_position_ = canbus::Chassis::GEAR_DRIVE;
+}
 }  // namespace planning
 }  // namespace apollo

modules/planning/open_space/trajectory_partition/trajectory_partitioner.h

@@ -20,12 +20,12 @@
 
 #pragma once
 
+#include <algorithm>
+#include <limits>
 #include <memory>
 #include <queue>
-#include <algorithm>
 #include <utility>
 #include <vector>
-#include <limits>
 
 #include "modules/canbus/proto/chassis.pb.h"
 #include "modules/common/configs/vehicle_config_helper.h"
@@ -44,6 +44,8 @@ class TrajectoryPartitioner {
  public:
   TrajectoryPartitioner();
 
+  void Restart();
+
   apollo::common::Status TrajectoryPartition(
       const std::unique_ptr<PublishableTrajectory>& last_publishable_trajectory,
       const Frame* frame, ADCTrajectory* const ptr_trajectory_pb);