Add switch for new reference line

Integrate new reference line

modules/planning/common/planning_gflags.cc

@@ -52,6 +52,9 @@ DEFINE_double(look_forward_time_sec, 8,
 DEFINE_bool(enable_smooth_reference_line, true,
             "enable smooth the map reference line");
 
+DEFINE_bool(enable_spiral_reference_line, false,
+            "enable new spiral based reference line");
+
 DEFINE_int32(max_history_frame_num, 5, "The maximum history frame number");
 
 DEFINE_double(max_collision_distance, 0.1,

modules/planning/common/planning_gflags.h

@@ -31,6 +31,7 @@ DECLARE_double(look_forward_min_distance);
 DECLARE_double(look_forward_time_sec);
 
 DECLARE_bool(enable_smooth_reference_line);
+DECLARE_bool(enable_spiral_reference_line);
 DECLARE_double(max_collision_distance);
 DECLARE_bool(publish_estop);
 DECLARE_bool(enable_trajectory_stitcher);

modules/planning/conf/planning.conf

 --flagfile=modules/common/data/global_flagfile.txt
 --nouse_ros_time
 --planning_upper_speed_limit=31.3
+--noenable_spiral_reference_line

modules/planning/reference_line/BUILD

@@ -57,6 +57,7 @@ cc_library(
     deps = [
         "reference_line",
         "reference_line_smoother",
+        "spiral_reference_line_smoother",
         "//modules/map/pnc_map",
     ],
 )

modules/planning/reference_line/reference_line_provider.cc

@@ -148,6 +148,10 @@ bool ReferenceLineProvider::CreateReferenceLineFromRouting(
   ReferenceLineSmoother smoother;
   smoother.Init(smoother_config_);
 
+  SpiralReferenceLineSmoother spiral_smoother;
+  double max_spiral_smoother_dev = 0.1;
+  spiral_smoother.set_max_point_deviation(max_spiral_smoother_dev);
+
   std::vector<ReferenceLine> reference_lines;
   std::vector<hdmap::RouteSegments> segments;
   for (const auto &lanes : route_segments) {
@@ -156,10 +160,17 @@ bool ReferenceLineProvider::CreateReferenceLineFromRouting(
     if (FLAGS_enable_smooth_reference_line) {
       ReferenceLine raw_reference_line(hdmap_path);
       ReferenceLine reference_line;
-      if (!smoother.Smooth(raw_reference_line, &reference_line,
-                           spline_solver_.get())) {
-        AERROR << "Failed to smooth reference line";
-        continue;
+      if (FLAGS_enable_spiral_reference_line) {
+        if (!spiral_smoother.Smooth(raw_reference_line,
+          &reference_line)) {
+          AERROR << "Failed to smooth reference_line with spiral smoother";
+        }
+      } else {
+        if (!smoother.Smooth(raw_reference_line, &reference_line,
+                             spline_solver_.get())) {
+          AERROR << "Failed to smooth reference line";
+          continue;
+        }
       }
 
       bool is_valid_reference_line = true;

modules/planning/reference_line/reference_line_provider.h

@@ -33,6 +33,7 @@
 #include "modules/planning/math/smoothing_spline/spline_2d_solver.h"
 #include "modules/planning/reference_line/reference_line.h"
 #include "modules/planning/reference_line/reference_line_smoother.h"
+#include "modules/planning/reference_line/spiral_reference_line_smoother.h"
 
 /**
  * @namespace apollo::planning

modules/planning/reference_line/spiral_reference_line_smoother.cc

@@ -106,7 +106,8 @@ bool SpiralReferenceLineSmoother::Smooth(
   //  app->Options()->SetNumericValue("derivative_test_perturbation", 1.0e-7);
   //  app->Options()->SetStringValue("derivative_test", "second-order");
   app->Options()->SetIntegerValue("print_level", 0);
-  app->Options()->SetIntegerValue("max_iter", 1000);
+  int num_iterations = 10;
+  app->Options()->SetIntegerValue("max_iter", num_iterations);
 
   //  app->Options()->SetNumericValue("acceptable_tol", 0.5);
   //  app->Options()->SetNumericValue("acceptable_obj_change_tol", 0.5);

third_party/ipopt.BUILD

@@ -6,7 +6,11 @@ cc_library(
     name = "ipopt",
     includes = ["."],
     linkopts = [
-        "-lcoinmumps",
-        "-lipopt",
+        "-L/usr/local/ipopt/lib -lipopt",
+        "-L/usr/local/ipopt/lib -lcoinmumps",
+        "-lblas",
+        "-llapack",
+        "-ldl",
+        "-lgfortran",
     ],
 )
\ No newline at end of file