[planning] modified dp path with new config pb

modules/planning/common/planning_gflags.cc

@@ -339,9 +339,6 @@ DEFINE_string(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(dp_poly_path_config_file,
-              "modules/planning/conf/dp_poly_path_config.pb.txt",
-              "Dp poly path config file");
 DEFINE_string(dp_st_speed_config_file,
               "modules/planning/conf/dp_st_speed_config.pb.txt",
               "Dp st speed config file");

modules/planning/common/planning_gflags.h

@@ -222,7 +222,6 @@ DECLARE_string(reference_line_smoother_config_file);
 
 // Optimizers
 DECLARE_string(qp_spline_path_config_file);
-DECLARE_string(dp_poly_path_config_file);
 DECLARE_string(dp_st_speed_config_file);
 DECLARE_string(st_boundary_config_file);
 DECLARE_string(qp_spline_st_speed_config_file);

modules/planning/conf/dp_poly_path_config.pb.txt

-sample_level: 8
-sample_points_num_each_level: 9
-step_length_max: 15.0
-step_length_min: 8.0
-lateral_sample_offset: 0.5
-lateral_adjust_coeff: 0.5
-eval_time_interval: 0.1
-path_resolution: 0.1

modules/planning/integration_tests/planning_test_base.cc

@@ -48,8 +48,6 @@ void PlanningTestBase::SetUpTestCase() {
   FLAGS_map_file_path = "modules/planning/testdata/base_map.txt";
   FLAGS_reference_line_smoother_config_file =
       "modules/planning/testdata/conf/reference_line_smoother_config.pb.txt";
-  FLAGS_dp_poly_path_config_file =
-      "modules/planning/testdata/conf/dp_poly_path_config.pb.txt";
   FLAGS_dp_st_speed_config_file =
       "modules/planning/testdata/conf/dp_st_speed_config.pb.txt";
   FLAGS_test_localization_file =

modules/planning/optimizer/dp_poly_path/dp_poly_path_optimizer.cc

@@ -37,11 +37,7 @@ DpPolyPathOptimizer::DpPolyPathOptimizer(const std::string &name)
     : PathOptimizer(name) {}
 
 bool DpPolyPathOptimizer::Init(const PlanningConfig& config) {
-  if (!common::util::GetProtoFromFile(FLAGS_dp_poly_path_config_file,
-                                      &config_)) {
-    AERROR << "failed to load config file " << FLAGS_dp_poly_path_config_file;
-    return false;
-  }
+  config_ = config.em_planner_config().dp_poly_path_config();
   is_init_ = true;
   return true;
 }