Planning: set relax-end-slack as default ipopt option.

modules/planning/conf/planning_config.pb.txt

@@ -244,7 +244,7 @@ default_task_config: {
           enable_jacobian_ad: false
           enable_hand_derivative: false
           enable_derivative_check: false
-          distance_approach_mode: DISTANCE_APPROACH_IPOPT
+          distance_approach_mode: DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK
           enable_check_initial_state: false
         }
         iterative_anchoring_smoother_config {

modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.cc

@@ -1876,7 +1876,7 @@ bool DistanceApproachIPOPTInterface::check_g(int n, const double* x, int m,
 
   for (int idx = 0; idx < m; ++idx) {
     if (g[idx] > g_u_tmp[idx] + delta_v || g[idx] < g_l_tmp[idx] - delta_v) {
-      AINFO << "constratins idx unfeasible: " << idx << ", g: " << g[idx]
+      AINFO << "constrains idx unfeasible: " << idx << ", g: " << g[idx]
             << ", lower: " << g_l_tmp[idx] << ", upper: " << g_u_tmp[idx];
     }
   }

modules/planning/open_space/trajectory_smoother/distance_approach_problem.cc

@@ -149,7 +149,7 @@ bool DistanceApproachProblem::Solve(
 
   Ipopt::ApplicationReturnStatus status = app->Initialize();
   if (status != Ipopt::Solve_Succeeded) {
-    AERROR << "*** Distiance Approach problem error during initialization!";
+    AERROR << "*** Distance Approach problem error during initialization!";
     return false;
   }