Planning: re-align time of each trajectory point so that we can use the publishing time as the timestamp for planning module -- In this way, every modules in Apollo has a consistent way in defining 'timestamp' in header.

* Planning: used more accurate vehicle state at current timestamp in planning.

* Planning: fixed broken tests.

will create a struct VehicleState that stores all commonly used vehicle
state info, for better multithreading support

* The default gflag value would work

solution

planning: change planning_test_base to take gflag to regenerate golden. and update golden log to fix tests.