From a435f3801c64dbfa35d622295fa2c2aea3be032c Mon Sep 17 00:00:00 2001
From: deidaraho <deidaraho@gmail.com>
Date: Thu, 7 Feb 2019 16:37:34 -0800
Subject: [PATCH] planning: introduce barrier parameter into config in open
 space

---
 modules/planning/common/planning_gflags.cc             | 4 ----
 modules/planning/common/planning_gflags.h              | 2 --
 modules/planning/conf/planner_open_space_config.pb.txt | 3 +++
 modules/planning/conf/planning.conf                    | 3 ---
 modules/planning/proto/planner_open_space_config.proto | 6 ++++++
 5 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
index 4368524dc0..d228cf903d 100644
--- a/modules/planning/common/planning_gflags.cc
+++ b/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.");
 
diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h
index 06977f69dd..5c5f119728 100644
--- a/modules/planning/common/planning_gflags.h
+++ b/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);
diff --git a/modules/planning/conf/planner_open_space_config.pb.txt b/modules/planning/conf/planner_open_space_config.pb.txt
index 3e6c81b07f..fe15e9de6f 100644
--- a/modules/planning/conf/planner_open_space_config.pb.txt
+++ b/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
diff --git a/modules/planning/conf/planning.conf b/modules/planning/conf/planning.conf
index e51002b8e5..f579c3b4f7 100644
--- a/modules/planning/conf/planning.conf
+++ b/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
 
diff --git a/modules/planning/proto/planner_open_space_config.proto b/modules/planning/proto/planner_open_space_config.proto
index ce451115b5..ff09194939 100644
--- a/modules/planning/proto/planner_open_space_config.proto
+++ b/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 {
-- 
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