[planning] updated qp path with new config pb

modules/planning/common/planning_gflags.cc

@@ -336,9 +336,6 @@ DEFINE_string(planning_config_file,
               "modules/planning/conf/planning_config.pb.txt",
               "planning config file");
 
-DEFINE_string(qp_spline_path_config_file,
-              "modules/planning/conf/qp_spline_path_config.pb.txt",
-              "Qp spline path config file");
 DEFINE_string(st_boundary_config_file,
               "modules/planning/conf/st_boundary_config_file.pb.txt",
               "The config file for st_boundary_config.");

modules/planning/common/planning_gflags.h

@@ -221,7 +221,6 @@ DECLARE_double(max_deacceleration_for_yellow_light_stop);
 DECLARE_string(reference_line_smoother_config_file);
 
 // Optimizers
-DECLARE_string(qp_spline_path_config_file);
 DECLARE_string(st_boundary_config_file);
 DECLARE_string(qp_spline_st_speed_config_file);
 

modules/planning/conf/qp_spline_path_config.pb.txt

-spline_order: 6
-number_of_knots: 6
-number_of_fx_constraint_knots: 13
-time_resolution: 0.1
-regularization_weight: 0.1
-derivative_weight: 1.0
-second_derivative_weight: 0.0
-third_derivative_weight: 10.0
-reference_line_weight: 0.0
-num_refline_point: 10
-num_output: 100
-cross_lane_extension_buffer: 1.0
\ No newline at end of file

modules/planning/integration_tests/planning_test_base.cc

@@ -36,8 +36,6 @@ DEFINE_string(test_chassis_file,
 DEFINE_string(test_prediction_file, "", "The prediction module test file");
 
 void PlanningTestBase::SetUpTestCase() {
-  FLAGS_qp_spline_path_config_file =
-      "modules/planning/testdata/conf/qp_spline_path_config.pb.txt";
   FLAGS_qp_spline_st_speed_config_file =
       "modules/planning/testdata/conf/qp_spline_st_speed_config_file.pb.txt";
   FLAGS_st_boundary_config_file =

modules/planning/optimizer/qp_spline_path/qp_spline_path_optimizer.cc

@@ -34,12 +34,7 @@ QpSplinePathOptimizer::QpSplinePathOptimizer(const std::string& name)
     : PathOptimizer(name) {}
 
 bool QpSplinePathOptimizer::Init(const PlanningConfig& config) {
-  if (!common::util::GetProtoFromFile(FLAGS_qp_spline_path_config_file,
-                                      &qp_spline_path_config_)) {
-    AERROR << "Failed to load config file for path generator. config file: "
-           << FLAGS_qp_spline_path_config_file;
-    return false;
-  }
+  qp_spline_path_config_ = config.em_planner_config().qp_spline_path_config();
   is_init_ = true;
   return true;
 }