make nest shallower

planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp

@@ -60,7 +60,6 @@ struct Obstacle
   : stamp(arg_stamp),
     ego_to_obstacle_distance(ego_to_obstacle_distance),
     lat_dist_from_obstacle_to_traj(lat_dist_from_obstacle_to_traj),
-    source_type(SourceType::PREDICTED_OBJECT),
     pose(arg_pose),
     orientation_reliable(true),
     twist(object.kinematics.initial_twist_with_covariance.twist),
@@ -84,22 +83,15 @@ struct Obstacle
   : stamp(arg_stamp),
     ego_to_obstacle_distance(ego_to_obstacle_distance),
     lat_dist_from_obstacle_to_traj(lat_dist_from_obstacle_to_traj),
-    source_type(SourceType::POINTCLOUD),
     stop_collision_point(stop_collision_point),
     slow_down_front_collision_point(slow_down_front_collision_point),
     slow_down_back_collision_point(slow_down_back_collision_point)
   {
   }
 
-  enum class SourceType {
-    PREDICTED_OBJECT,
-    POINTCLOUD,
-  };
-
   rclcpp::Time stamp;  // This is not the current stamp, but when the object was observed.
   double ego_to_obstacle_distance;
   double lat_dist_from_obstacle_to_traj;
-  SourceType source_type;
 
   // for PredictedObject
   geometry_msgs::msg::Pose pose;  // interpolated with the current stamp

planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp

@@ -66,15 +66,22 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
     const std::vector<TrajectoryPoint> & traj_points,
     const std_msgs::msg::Header & traj_header) const;
   std::tuple<std::vector<StopObstacle>, std::vector<CruiseObstacle>, std::vector<SlowDownObstacle>>
-  determineEgoBehaviorAgainstObstacles(
-    const Odometry & odometry, const std::optional<PredictedObjects> & objects,
+  determineEgoBehaviorAgainstPredictedObjectObstacles(
+    const Odometry & odometry, const PredictedObjects & objects,
     const std::vector<TrajectoryPoint> & traj_points, const std::vector<Obstacle> & obstacles);
+  std::tuple<std::vector<StopObstacle>, std::vector<CruiseObstacle>, std::vector<SlowDownObstacle>>
+  determineEgoBehaviorAgainstPointCloudObstacles(
+    const Odometry & odometry, const std::vector<TrajectoryPoint> & traj_points,
+    const std::vector<Obstacle> & obstacles);
   std::vector<TrajectoryPoint> decimateTrajectoryPoints(
     const Odometry & odometry, const std::vector<TrajectoryPoint> & traj_points) const;
-  std::optional<StopObstacle> createStopObstacle(
+  std::optional<StopObstacle> createStopObstacleForPredictedObject(
     const Odometry & odometry, const std::vector<TrajectoryPoint> & traj_points,
     const std::vector<Polygon2d> & traj_polys, const Obstacle & obstacle,
     const double precise_lateral_dist) const;
+  std::optional<StopObstacle> createStopObstacleForPointCloud(
+    const std::vector<TrajectoryPoint> & traj_points, const Obstacle & obstacle,
+    const double precise_lateral_dist) const;
   bool isStopObstacle(const uint8_t label) const;
   bool isInsideCruiseObstacle(const uint8_t label) const;
   bool isOutsideCruiseObstacle(const uint8_t label) const;
@@ -101,9 +108,11 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
   double calcCollisionTimeMargin(
     const Odometry & odometry, const std::vector<PointWithStamp> & collision_points,
     const std::vector<TrajectoryPoint> & traj_points, const bool is_driving_forward) const;
-  std::optional<SlowDownObstacle> createSlowDownObstacle(
+  std::optional<SlowDownObstacle> createSlowDownObstacleForPredictedObject(
     const Odometry & odometry, const std::vector<TrajectoryPoint> & traj_points,
     const Obstacle & obstacle, const double precise_lat_dist);
+  std::optional<SlowDownObstacle> createSlowDownObstacleForPointCloud(
+    const Obstacle & obstacle, const double precise_lat_dist);
   PlannerData createPlannerData(
     const Odometry & odometry, const AccelWithCovarianceStamped & acc,
     const std::vector<TrajectoryPoint> & traj_points) const;