Planning: clean up unused params.

modules/planning/tasks/dp_st_speed/BUILD

@@ -45,6 +45,7 @@ cc_library(
     deps = [
         ":dp_st_cost",
         ":st_graph_point",
+        "//modules/common/configs:vehicle_config_helper",
         "//modules/common/configs/proto:vehicle_config_proto",
         "//modules/common/proto:common_proto",
         "//modules/common/proto:pnc_point_proto",

modules/planning/tasks/dp_st_speed/dp_st_graph.cc

@@ -26,7 +26,6 @@
 
 #include "modules/common/proto/pnc_point.pb.h"
 
-#include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/log.h"
 #include "modules/common/math/vec2d.h"
 #include "modules/planning/common/planning_gflags.h"
@@ -38,7 +37,6 @@ using apollo::common::ErrorCode;
 using apollo::common::SpeedPoint;
 using apollo::common::Status;
 using apollo::common::math::Vec2d;
-using apollo::common::VehicleConfigHelper;
 using apollo::common::VehicleParam;
 
 namespace {
@@ -55,17 +53,15 @@ bool CheckOverlapOnDpStGraph(const std::vector<const StBoundary*>& boundaries,
 }
 }  // namespace
 
-DpStGraph::DpStGraph(const ReferenceLine& reference_line,
-                     const StGraphData& st_graph_data,
+DpStGraph::DpStGraph(const StGraphData& st_graph_data,
                      const DpStSpeedConfig& dp_config,
                      const std::vector<const PathObstacle*>& obstacles,
+                     const common::TrajectoryPoint& init_point,
                      const SLBoundary& adc_sl_boundary)
-    : reference_line_(reference_line),
-      st_graph_data_(st_graph_data),
+    : st_graph_data_(st_graph_data),
       dp_st_speed_config_(dp_config),
       obstacles_(obstacles),
-      vehicle_param_(VehicleConfigHelper::GetConfig().vehicle_param()),
-      init_point_(st_graph_data.init_point()),
+      init_point_(init_point),
       dp_st_cost_(dp_config, obstacles, init_point_),
       adc_sl_boundary_(adc_sl_boundary) {
   dp_st_speed_config_.set_total_path_length(

modules/planning/tasks/dp_st_speed/dp_st_graph.h

@@ -27,6 +27,7 @@
 #include "modules/planning/proto/dp_st_speed_config.pb.h"
 #include "modules/planning/proto/planning_config.pb.h"
 
+#include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/status/status.h"
 #include "modules/planning/common/frame.h"
 #include "modules/planning/common/path_decision.h"
@@ -42,9 +43,9 @@ namespace planning {
 
 class DpStGraph {
  public:
-  DpStGraph(const ReferenceLine& reference_line,
-            const StGraphData& st_graph_data, const DpStSpeedConfig& dp_config,
+  DpStGraph(const StGraphData& st_graph_data, const DpStSpeedConfig& dp_config,
             const std::vector<const PathObstacle*>& obstacles,
+            const common::TrajectoryPoint& init_point,
             const SLBoundary& adc_sl_boundary);
 
   apollo::common::Status Search(SpeedData* const speed_data);
@@ -77,8 +78,6 @@ class DpStGraph {
                    uint32_t* lowest_row);
 
  private:
-  const ReferenceLine& reference_line_;
-
   const StGraphData& st_graph_data_;
 
   // dp st configuration
@@ -88,7 +87,8 @@ class DpStGraph {
   const std::vector<const PathObstacle*>& obstacles_;
 
   // vehicle configuration parameter
-  const common::VehicleParam& vehicle_param_;
+  const common::VehicleParam& vehicle_param_ =
+      common::VehicleConfigHelper::GetConfig().vehicle_param();
 
   // initial status
   common::TrajectoryPoint init_point_;

modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc

@@ -113,9 +113,9 @@ bool DpStSpeedOptimizer::SearchStGraph(const StBoundaryMapper& boundary_mapper,
   StGraphData st_graph_data(boundaries, init_point_, speed_limit, path_length);
 
   DpStGraph st_graph(
-      *reference_line_, st_graph_data, dp_st_speed_config_,
+      st_graph_data, dp_st_speed_config_,
       reference_line_info_->path_decision()->path_obstacles().Items(),
-      adc_sl_boundary_);
+      init_point_, adc_sl_boundary_);
 
   if (!st_graph.Search(speed_data).ok()) {
     const std::string msg(