Planning: (1) adjust lateral/longitudinal bound in reference_line_smoother to provide near to center reference lines; (2) adjust the speed lower bound from 0.0 to 1e-12 to avoid double precision issue in qp_st_speed_graph.

* Planning: set use_ros_time default conf to false.

* Planning: relaxed the jerk continuity requirement for better robustness.

Planning: implemented get unblocked range and boundary range given time in st_boundary.cc. remove dependancies on polygon2d continued.

solution

planning: create destination stop obstacle based on (x,y) instead of route_s, and also add checks on valid l