added IsStatic property in obstacle (#437)

modules/planning/common/decision_data.cc

@@ -49,8 +49,7 @@ std::vector<Obstacle *> *DecisionData::MutableDynamicObstacles() {
 
 void DecisionData::AddObstacle(Obstacle *obstacle) {
   obstacles_.push_back(obstacle);
-  if (obstacle->Perception().type() ==
-      perception::PerceptionObstacle::UNKNOWN_UNMOVABLE) {
+  if (obstacle->IsStatic()) {
     static_obstacles_.push_back(obstacle);
   } else {
     dynamic_obstacles_.push_back(obstacle);

modules/planning/common/obstacle.cc

@@ -41,7 +41,17 @@ Obstacle::Obstacle(const std::string& id,
                                 perception_obstacle_.position().y()},
                                perception_obstacle_.theta(),
                                perception_obstacle_.length(),
-                               perception_obstacle_.width()) {}
+                               perception_obstacle_.width()) {
+  is_static_ = IsStaticObstacle(perception_obstacle);
+}
+
+bool Obstacle::IsStatic() const { return is_static_; }
+
+bool Obstacle::IsStaticObstacle(
+    const perception::PerceptionObstacle& perception_obstacle) {
+  return perception_obstacle.type() ==
+         perception::PerceptionObstacle::UNKNOWN_UNMOVABLE;
+}
 
 common::TrajectoryPoint Obstacle::GetPointAtTime(
     const double relative_time) const {

modules/planning/common/obstacle.h

@@ -44,6 +44,8 @@ class Obstacle {
 
   const std::string &Id() const;
 
+  bool IsStatic() const;
+
   common::TrajectoryPoint GetPointAtTime(const double time) const;
   common::math::Box2d GetBoundingBox(
       const common::TrajectoryPoint &point) const;
@@ -74,7 +76,10 @@ class Obstacle {
       std::list<std::unique_ptr<Obstacle>> *obstacles);
 
  private:
+  static bool IsStaticObstacle(
+      const perception::PerceptionObstacle &perception_obstacle);
   std::string id_;
+  bool is_static_;
   prediction::Trajectory trajectory_;
   perception::PerceptionObstacle perception_obstacle_;
   // FIXME move out later