fix trajectory relative time bug in aggregation and protect trajectory stitch with correct flag.

modules/planning/common/planning_data.cc

@@ -102,8 +102,7 @@ bool PlanningData::aggregate(const double time_resolution,
     trajectory_point.mutable_path_point()->CopyFrom(path_point);
     trajectory_point.set_v(speed_point.v());
     trajectory_point.set_a(speed_point.a());
-    trajectory_point.set_relative_time(init_planning_point_.relative_time() +
-                                       speed_point.t());
+    trajectory_point.set_relative_time(speed_point.t());
     trajectory->add_trajectory_point(trajectory_point);
   }
   return true;

modules/planning/common/planning_gflags.cc

@@ -22,8 +22,8 @@ DEFINE_string(rtk_trajectory_filename, "modules/planning/data/garage.csv",
               "Loop rate for planning node");
 DEFINE_string(map_filename, "modules/map/data/base_map.txt", "map data file");
 
-DEFINE_uint64(rtk_trajectory_backward, 10,
-              "The number of points to be included in RTK trajectory "
+DEFINE_uint64(backward_trajectory_point_num, 10,
+              "The number of points to be included in planning trajectory "
               "before the matched point");
 
 DEFINE_uint64(rtk_trajectory_forward, 800,

modules/planning/common/planning_gflags.h

@@ -23,7 +23,7 @@ DECLARE_string(planning_config_file);
 DECLARE_int32(planning_loop_rate);
 DECLARE_string(rtk_trajectory_filename);
 DECLARE_string(map_filename);
-DECLARE_uint64(rtk_trajectory_backward);
+DECLARE_uint64(backward_trajectory_point_num);
 DECLARE_uint64(rtk_trajectory_forward);
 DECLARE_double(replanning_threshold);
 DECLARE_double(trajectory_resolution);

modules/planning/planning.cc

@@ -252,7 +252,7 @@ bool Planning::Plan(const bool is_on_auto_mode, const double publish_time,
       // a segment of last trajectory to be attached to planned trajectory in
       // case controller needs.
       GetOverheadTrajectory(static_cast<std::uint32_t>(matched_index),
-          static_cast<std::uint32_t>(FLAGS_rtk_trajectory_backward),
+          static_cast<std::uint32_t>(FLAGS_backward_trajectory_point_num),
           trajectory_pb);
 
       // store the planned trajectory and header info for next planning cycle.
@@ -340,6 +340,10 @@ void Planning::Reset() {
 void Planning::GetOverheadTrajectory(const std::uint32_t matched_index,
                                      const std::uint32_t buffer_size,
                                      ADCTrajectory* trajectory_pb) {
+  if (!FLAGS_use_stitch) {
+    ADEBUG << "Skip trajectory stich.";
+    return;
+  }
   const std::uint32_t start_index =
       matched_index < buffer_size ? 0 : matched_index - buffer_size;