planning: disable enable_polynomial_speed_fallback by default.

leslieam · Aug 24, 2018 · a832dbc · a832dbc
1 parent ff6d6ef
commit a832dbc
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
@@ -364,6 +364,8 @@ DEFINE_bool(use_planning_fallback, true,
 DEFINE_double(fallback_total_time, 3.0, "total fallback trajectory time");
 DEFINE_double(fallback_time_unit, 0.02,
               "fallback trajectory unit time in seconds");
+DEFINE_bool(enable_polynomial_speed_fallback, false,
+              "True to enable polynomial speed fallback.");
 
 // navigation mode
 DEFINE_double(navigation_fallback_cruise_time, 8.0,

diff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h
@@ -196,6 +196,7 @@ DECLARE_double(nudge_buffer);
 DECLARE_bool(use_planning_fallback);
 DECLARE_double(fallback_total_time);
 DECLARE_double(fallback_time_unit);
+DECLARE_bool(enable_polynomial_speed_fallback);
 
 // navigation mode
 DECLARE_double(navigation_fallback_cruise_time);

diff --git a/modules/planning/planner/em/em_planner.cc b/modules/planning/planner/em/em_planner.cc
@@ -401,11 +401,11 @@ void EMPlanner::GenerateFallbackPathProfile(
 
 void EMPlanner::GenerateFallbackSpeedProfile(
     const ReferenceLineInfo* reference_line_info, SpeedData* speed_data) {
-  *speed_data = GenerateStopProfileFromPolynomial(
+  if (FLAGS_enable_polynomial_speed_fallback) {
+    *speed_data = GenerateStopProfileFromPolynomial(
       reference_line_info->AdcPlanningPoint().v(),
       reference_line_info->AdcPlanningPoint().a());
-
-  if (speed_data->Empty()) {
+  } else {
     *speed_data =
         GenerateStopProfile(reference_line_info->AdcPlanningPoint().v(),
                             reference_line_info->AdcPlanningPoint().a());