SF restaurant prices have in fact already gone way up. ("The biggest factor: labor") [1]
It doesn't sound like you're actually offering to pay higher prices. You just want tipping built into the base price. There are restaurants experimenting with this, but it generally doesn't make them more money. [2]
[1] http://www.sfchronicle.com/restaurants/article/Why-is-it-so-...
[2] http://sf.eater.com/2015/10/16/9557877/tipping-restaurants-s...
You're talking about serving/wait staff, whose hours are significantly shorter and wages (including tips) are significantly higher than cooking staff, which is what the parent comment was actually talking about.
Maybe it shouldn't be such a low wage job, if [good?] talent is in short supply?
Just a thought.
I for one would be happy to pay higher prices, if it meant we could avoid the whole 20% restaurant subsidy (tips) song and dance. Charge me a fair price and I'll pay you a fair price. There's no need for the whole "And oh yeah, we don't pay our staff enough so you're a bad person if you don't pay extra".