planning: remove vehicle_param from dp_st_graph constructor

modules/planning/tasks/dp_st_speed/dp_st_graph.cc

@@ -26,6 +26,7 @@
 
 #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"
@@ -37,8 +38,9 @@ namespace planning {
 using ErrorCode = apollo::common::ErrorCode;
 using SpeedPoint = apollo::common::SpeedPoint;
 using Status = apollo::common::Status;
-using VehicleParam = apollo::common::VehicleParam;
 using Vec2d = apollo::common::math::Vec2d;
+using VehicleConfigHelper = apollo::common::VehicleConfigHelper;
+using VehicleParam = apollo::common::VehicleParam;
 
 namespace {
 
@@ -54,21 +56,20 @@ bool CheckOverlapOnDpStGraph(const std::vector<StBoundary> boundaries,
 }
 }
 
-DpStGraph::DpStGraph(const SLBoundary& adc_sl_boundary,
-                     const DpStSpeedConfig& dp_config,
+DpStGraph::DpStGraph(const DpStSpeedConfig& dp_config,
                      const StGraphData& st_graph_data,
-                     const VehicleParam& vehicle_param,
-                     const PathData& path_data)
-    : adc_sl_boundary_(adc_sl_boundary),
-      dp_st_speed_config_(dp_config),
+                     const PathData& path_data,
+                     const SLBoundary& adc_sl_boundary)
+    : dp_st_speed_config_(dp_config),
       st_graph_data_(st_graph_data),
-      vehicle_param_(vehicle_param),
       path_data_(path_data),
+      adc_sl_boundary_(adc_sl_boundary),
       dp_st_cost_(dp_config),
       init_point_(st_graph_data.init_point()) {
   dp_st_speed_config_.set_total_path_length(
       std::fmin(dp_st_speed_config_.total_path_length(),
                 st_graph_data_.path_data_length()));
+  vehicle_param_ = VehicleConfigHelper::GetConfig().vehicle_param();
 }
 
 Status DpStGraph::Search(PathDecision* const path_decision,

modules/planning/tasks/dp_st_speed/dp_st_graph.h

@@ -41,10 +41,8 @@ namespace planning {
 
 class DpStGraph {
  public:
-  DpStGraph(const SLBoundary& adc_sl_boundary, const DpStSpeedConfig& dp_config,
-            const StGraphData& st_graph_data,
-            const common::VehicleParam& vehicle_param,
-            const PathData& path_data);
+  DpStGraph(const DpStSpeedConfig& dp_config, const StGraphData& st_graph_data,
+            const PathData& path_data, const SLBoundary& adc_sl_boundary);
 
   apollo::common::Status Search(PathDecision* const path_decision,
                                 SpeedData* const speed_data);
@@ -115,18 +113,18 @@ class DpStGraph {
                    uint32_t* highest_row, uint32_t* lowest_row);
 
  private:
-  const SLBoundary& adc_sl_boundary_;
-
   // dp st configuration
   DpStSpeedConfig dp_st_speed_config_;
 
   const StGraphData& st_graph_data_;
 
   // vehicle configuration parameter
-  const common::VehicleParam& vehicle_param_;
+  common::VehicleParam vehicle_param_;
 
   const PathData& path_data_;
 
+  const SLBoundary& adc_sl_boundary_;
+
   // cost utility with configuration;
   DpStCost dp_st_cost_;
 

modules/planning/tasks/dp_st_speed/dp_st_speed_optimizer.cc

@@ -92,11 +92,9 @@ Status DpStSpeedOptimizer::Process(const SLBoundary& adc_sl_boundary,
 
   const double path_length = path_data.discretized_path().Length();
   StGraphData st_graph_data(boundaries, init_point, speed_limit, path_length);
-  const auto& veh_param =
-      common::VehicleConfigHelper::GetConfig().vehicle_param();
 
-  DpStGraph st_graph(adc_sl_boundary, dp_st_speed_config_, st_graph_data,
-                     veh_param, path_data);
+  DpStGraph st_graph(dp_st_speed_config_, st_graph_data, path_data,
+                     adc_sl_boundary);
   if (!st_graph.Search(path_decision, speed_data).ok()) {
     const std::string msg(Name() +
                           ":Failed to search graph with dynamic programming.");