planning: introduce barrier parameter into config in open space

modules/planning/common/planning_gflags.cc

@@ -490,8 +490,4 @@ DEFINE_bool(enable_parallel_hybrid_a, false,
             "True to enable hybrid a* parallel implementation.");
 DEFINE_bool(enable_parallel_open_space_smoother, false,
             "True to enable open space smoother parallel implementation.");
-DEFINE_bool(enable_derivative_check, false,
-            "True to enable derivative check inside open space planner.");
-DEFINE_bool(enable_hand_derivative, false,
-    "True to enable hand derived derivative inside open space planner.");
 

modules/planning/common/planning_gflags.h

@@ -255,5 +255,3 @@ DECLARE_double(side_pass_driving_width_l_buffer);
 
 DECLARE_bool(enable_parallel_hybrid_a);
 DECLARE_bool(enable_parallel_open_space_smoother);
-DECLARE_bool(enable_derivative_check);
-DECLARE_bool(enable_hand_derivative);

modules/planning/conf/planner_open_space_config.pb.txt

@@ -65,8 +65,11 @@ distance_approach_config {
     ipopt_print_timing_statistics: "yes"
     ipopt_alpha_for_y: "min"
     ipopt_recalc_y: "yes"
+    ipopt_mu_init: 0.1
   }
   enable_constraint_check: false
+  enable_hand_derivative: false
+  enable_derivative_check: false
 }
 trajectory_partition_config {
   interpolated_pieces_num: 50

modules/planning/conf/planning.conf

@@ -35,7 +35,4 @@
 # --use_gear_shift_trajectory=true
 # --enable_parallel_hybrid_a=true
 # --enable_parallel_open_space_smoother=false
-# --enable_derivative_check=false
-# --enable_hand_derivative=false
-# --enable_constraints_check=false
 

modules/planning/proto/planner_open_space_config.proto

@@ -75,6 +75,10 @@ message DistanceApproachConfig {
   optional bool use_fix_time = 20 [default = false];
   optional IpoptConfig ipopt_config = 21;
   optional bool enable_constraint_check = 22;
+  optional bool enable_hand_derivative = 23;
+  // True to enable hand derived derivative inside open space planner
+  optional bool enable_derivative_check = 24;
+  // True to enable derivative check inside open space planner
 }
 
 message IpoptConfig {
@@ -90,6 +94,8 @@ message IpoptConfig {
   optional string ipopt_print_timing_statistics = 9;
   optional string ipopt_alpha_for_y = 10;
   optional string ipopt_recalc_y = 11;
+  optional double ipopt_mu_init = 12 [default = 0.1];
+  // ipopt barrier parameter, default 0.1
 }
 
 message TrajectoryPartitionConfig {