[mkquda]

Description

This PR applies the following improvements to obstacle_stop feature used in trajectory_modifier and minimum_rule_based_planner:

• refactor obstacle stop utility function get_nearest_object_collision to optimize collision check
• fix stop wall appears behind ego
• fix extend_trajectory() function
• use path curvature at end instead of relying on trajectory point orientations
• for low end speed trajectory, default to straight extension
• fix insert_stop_point logic to prevent wrong orientation stop pose
• introduce minimum stop margin below which duplicate_check_threshold is ignored
• remove max_velocity_th param and fix collision check logic

Additionally it updates the logic of obstacle_stop and surround_obstacle_stop to enable filtering by type and shape:

• update obstacle_stop params in modifier and backup planner to specify enabled types per shape
• update surround_obstacle_stop params in modifier and backup planner to specify enabled types per shape
• modify ObjectFilter code in obstacle_stop_utils to support filtering by type and shape
• modify ObstacleProximityChecker class to support filtering by type and shape
• fix ObstacleTracker logic for ignoring orientation change

Related links

How was this PR tested?

• PSIM

Notes for reviewers

None.

Interface changes

Change	parameter name	description
Removed	objects.object_types	object types to consider for obstacle stop
Added	objects.target_objects.bbox	object classes with bbox shape type to consider for obstacle stop
Added	objects.target_objects.polygon	object classes with polygon shape type to consider for obstacle stop
Removed	surround_obstacle_stop.object_types	object types to consider for surround obstacle stop
Added	surround_obstacle_stop.target_objects.bbox	object classes with bbox shape type to consider for surround obstacle stop
Added	surround_obstacle_stop.target_objects.polygon	object classes with polygon shape type to consider for surround obstacle stop

None.

Effects on system behavior

• improved stopping behavior
• reduced false positives

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[codecov]

Codecov Report

❌ Patch coverage is 39.68254% with 114 lines in your changes missing coverage. Please review.
✅ Project coverage is 20.32%. Comparing base (a4ede60) to head (a82a68a).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_based_planner/plugins/surround_obstacle_stop.cpp	0.00%	39 Missing ⚠️
.../trajectory_modifier_utils/obstacle_stop_utils.cpp	50.00%	4 Missing and 15 partials ⚠️
...ectory_modifier_plugins/surround_obstacle_stop.cpp	69.23%	1 Missing and 11 partials ⚠️
..._processor/src/trajectory_modifier_utils/utils.cpp	43.75%	3 Missing and 6 partials ⚠️
...oximity_checker/src/obstacle_proximity_checker.cpp	36.36%	3 Missing and 4 partials ⚠️
.../trajectory_modifier_utils/obstacle_stop_utils.hpp	50.00%	4 Missing and 2 partials ⚠️
.../src/trajectory_modifier_plugins/obstacle_stop.cpp	64.70%	0 Missing and 6 partials ⚠️
...nimum_rule_based_planner/plugins/obstacle_stop.cpp	0.00%	5 Missing ⚠️
...trajectory_modifier_plugins/traffic_light_stop.cpp	0.00%	2 Missing and 1 partial ⚠️
...nimum_rule_based_planner/plugins/obstacle_stop.hpp	0.00%	2 Missing ⚠️
... and 3 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #13255      +/-   ##
==========================================
+ Coverage   20.31%   20.32%   +0.01%     
==========================================
  Files        1951     1951              
  Lines      137034   137065      +31     
  Branches    48901    48922      +21     
==========================================
+ Hits        27838    27864      +26     
+ Misses      86640    86631       -9     
- Partials    22556    22570      +14     

Flag	Coverage Δ		*Carryforward flag
daily	?
full-suite	20.29% <ø> (-0.01%)	⬇️	Carriedforward from a4ede60

*This pull request uses carry forward flags. Click here to find out more.

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