all: remove unused gflags

modules/localization/common/localization_gflags.h

@@ -66,7 +66,6 @@ DECLARE_int32(point_cloud_step);
 // integ module
 DECLARE_bool(integ_ins_can_self_align);
 DECLARE_bool(integ_sins_align_with_vel);
-DECLARE_bool(using_raw_gnsspos);
 DECLARE_double(vel_threshold_get_yaw);
 DECLARE_bool(integ_debug_log_flag);
 

modules/perception/obstacle/fusion/probabilistic_fusion/pbf_kalman_motion_fusion.cc

@@ -55,7 +55,7 @@ void PbfKalmanMotionFusion::Initialize(const PbfSensorObjectPtr new_object) {
 
   a_matrix_.setIdentity();
   a_matrix_(0, 2) = FLAGS_a_matrix_covariance_coeffcient_1;
-  a_matrix_(1, 3) = FLAGS_a_matrix_covariance_coeffcient_1;
+  a_matrix_(1, 3) = FLAGS_a_matrix_covariance_coeffcient_2;
   // initialize states to the states of the detected obstacle
   posteriori_state_(0) = belief_anchor_point_(0);
   posteriori_state_(1) = belief_anchor_point_(1);

modules/planning/common/planning_gflags.cc

@@ -184,9 +184,6 @@ DEFINE_bool(enable_nudge_slowdown, true,
 DEFINE_bool(try_history_decision, false, "try history decision first");
 
 DEFINE_double(static_decision_nudge_l_buffer, 0.3, "l buffer for nudge");
-DEFINE_double(longitudinal_ignore_buffer, 10.0,
-              "If an obstacle's longitudinal distance is further away "
-              "than this distance, ignore it");
 DEFINE_double(lateral_ignore_buffer, 3.0,
               "If an obstacle's lateral distance is further away than this "
               "distance, ignore it");
@@ -279,9 +276,6 @@ DEFINE_string(stop_sign_virtual_object_id_prefix, "SS_",
               "prefix for converting stop_sign id to virtual object id");
 DEFINE_double(stop_duration_for_stop_sign, 3,
               "min time(second) to stop at stop sign");
-DEFINE_double(max_distance_stop_sign_waiting_area, 3,
-              "max distance(meter) to be considered as "
-              "having arrived stop sign waiting area");
 
 // according to DMV's rule, turn signal should be on within 200 ft from
 // intersection.
@@ -300,8 +294,6 @@ DEFINE_string(planning_config_file,
 DEFINE_int32(trajectory_point_num_for_debug, 10,
              "number of output trajectory points for debugging");
 
-DEFINE_double(decision_valid_stop_range, 0.5,
-              "The valid stop range in decision.");
 DEFINE_bool(enable_record_debug, true,
             "True to enable record debug into debug protobuf.");
 DEFINE_bool(enable_prediction, true, "True to enable prediction input.");

modules/planning/common/planning_gflags.h

@@ -104,7 +104,6 @@ DECLARE_bool(enable_nudge_decision);
 DECLARE_bool(enable_nudge_slowdown);
 DECLARE_bool(try_history_decision);
 DECLARE_double(static_decision_nudge_l_buffer);
-DECLARE_double(longitudinal_ignore_buffer);
 DECLARE_double(lateral_ignore_buffer);
 DECLARE_double(min_stop_distance_obstacle);
 DECLARE_double(max_stop_distance_obstacle);
@@ -128,7 +127,6 @@ DECLARE_bool(enable_lag_prediction);
 DECLARE_int32(lag_prediction_min_appear_num);
 DECLARE_double(lag_prediction_max_disappear_num);
 DECLARE_int32(trajectory_point_num_for_debug);
-DECLARE_double(decision_valid_stop_range);
 
 DECLARE_bool(enable_record_debug);
 DECLARE_bool(enable_prediction);
@@ -169,7 +167,6 @@ DECLARE_double(crosswalk_loose_l_distance);
 DECLARE_bool(enable_stop_sign);
 DECLARE_string(stop_sign_virtual_object_id_prefix);
 DECLARE_double(stop_duration_for_stop_sign);
-DECLARE_double(max_distance_stop_sign_waiting_area);
 
 DECLARE_bool(enable_sqp_solver);
 

modules/prediction/common/prediction_gflags.cc

@@ -66,7 +66,6 @@ DEFINE_double(max_lane_angle_diff, M_PI / 2.0,
               "Max angle difference for a candiate lane");
 DEFINE_bool(enable_pedestrian_acc, false, "Enable calculating speed by acc");
 DEFINE_double(coeff_mul_sigma, 2.0, "coefficient multiply standard deviation");
-DEFINE_double(pedestrian_min_speed, 0.1, "min speed for still pedestrian");
 DEFINE_double(pedestrian_max_speed, 10.0, "speed upper bound for pedestrian");
 DEFINE_double(pedestrian_max_acc, 2.0, "maximum pedestrian acceleration");
 DEFINE_double(prediction_pedestrian_total_time, 10.0,

modules/prediction/common/prediction_gflags.h

@@ -54,7 +54,6 @@ DECLARE_double(target_lane_gap);
 DECLARE_double(max_lane_angle_diff);
 DECLARE_bool(enable_pedestrian_acc);
 DECLARE_double(coeff_mul_sigma);
-DECLARE_double(pedestrian_min_speed);
 DECLARE_double(pedestrian_max_speed);
 DECLARE_double(pedestrian_max_acc);
 DECLARE_double(prediction_pedestrian_total_time);