navigation: using spiral reference line smoother for navigation line

modules/planning/common/planning_gflags.cc

@@ -33,8 +33,8 @@ DEFINE_string(traffic_rule_config_filename,
               "Traffic rule config filename");
 
 DEFINE_string(smoother_config_filename,
-              "modules/planning/conf/qp_spline_smoother_config.pb.txt",
-              "The configuration file for qp sline smoother");
+              "modules/planning/conf/spiral_smoother_config.pb.txt",
+              "The configuration file for spiral smoother");
 
 DEFINE_string(rtk_trajectory_filename, "modules/planning/data/garage.csv",
               "Loop rate for planning node");

modules/planning/conf/spiral_smoother_config.pb.txt

@@ -14,7 +14,7 @@ spiral {
   opt_tol : 1.0e-8
   opt_acceptable_tol : 1e-6
   opt_acceptable_iteration : 15
-  opt_weight_curve_length : 0.0
+  opt_weight_curve_length : 1.0
   opt_weight_kappa : 1.5
   opt_weight_dkappa : 1.0
   opt_weight_d2kappa : 0.0

modules/planning/reference_line/smoother_util.cc

@@ -28,7 +28,7 @@
 #include "modules/common/util/util.h"
 #include "modules/map/pnc_map/path.h"
 #include "modules/planning/common/planning_gflags.h"
-#include "modules/planning/reference_line/qp_spline_reference_line_smoother.h"
+#include "modules/planning/reference_line/spiral_reference_line_smoother.h"
 #include "modules/planning/reference_line/reference_line.h"
 #include "modules/planning/reference_line/reference_line_smoother.h"
 
@@ -83,7 +83,7 @@ class SmootherUtil {
       // Prefer "std::make_unique" to direct use of "new".
       // Reference "https://herbsutter.com/gotw/_102/" for details.
       auto smoother_ptr =
-          std::make_unique<QpSplineReferenceLineSmoother>(config_);
+          std::make_unique<SpiralReferenceLineSmoother>(config_);
       auto anchors =
           CreateAnchorPoints(init_ref.reference_points().front(), init_ref);
       smoother_ptr->SetAnchorPoints(anchors);
@@ -125,7 +125,7 @@ class SmootherUtil {
       // Prefer "std::make_unique" to direct use of "new".
       // Reference "https://herbsutter.com/gotw/_102/" for details.
       auto smoother_ptr =
-          std::make_unique<QpSplineReferenceLineSmoother>(config_);
+          std::make_unique<SpiralReferenceLineSmoother>(config_);
       smoother_ptr->SetAnchorPoints(anchors);
       ReferenceLine smoothed_local_ref;
       if (!smoother_ptr->Smooth(local_ref, &smoothed_local_ref)) {