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.

solution

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