remove required reference line in path obstacle constructor

modules/planning/common/path_decision.cc

@@ -33,8 +33,9 @@ PathDecision::PathDecision(const std::vector<const Obstacle *> &obstacles,
 
 void PathDecision::Init(const std::vector<const Obstacle *> &obstacles) {
   for (const auto obstacle : obstacles) {
-    path_obstacles_.Add(obstacle->Id(), common::util::make_unique<PathObstacle>(
-                                            obstacle, &reference_line_));
+    auto path_obstacle = common::util::make_unique<PathObstacle>(obstacle);
+    path_obstacle->Init(&reference_line_);
+    path_obstacles_.Add(obstacle->Id(), std::move(path_obstacle));
   }
 }
 

modules/planning/common/path_obstacle.cc

@@ -27,13 +27,10 @@ namespace planning {
 
 const std::string& PathObstacle::Id() const { return id_; }
 
-PathObstacle::PathObstacle(const planning::Obstacle* obstacle,
-                           const ReferenceLine* reference_line)
+PathObstacle::PathObstacle(const planning::Obstacle* obstacle)
     : obstacle_(obstacle) {
   CHECK_NOTNULL(obstacle);
   id_ = obstacle_->Id();
-  CHECK(reference_line != nullptr) << "reference line is null";
-  Init(reference_line);
 }
 
 bool PathObstacle::Init(const ReferenceLine* reference_line) {

modules/planning/common/path_obstacle.h

@@ -55,8 +55,9 @@ using ConstPathObstacleList = std::vector<const PathObstacle*>;
  */
 class PathObstacle {
  public:
-  PathObstacle(const planning::Obstacle* obstacle,
-               const ReferenceLine* reference_line);
+  PathObstacle(const planning::Obstacle* obstacle);
+
+  bool Init(const ReferenceLine* reference_line);
 
   const std::string& Id() const;
 
@@ -77,8 +78,6 @@ class PathObstacle {
   const SLBoundary& sl_boundary() const;
 
  private:
-  bool Init(const ReferenceLine* reference_line);
-
   std::string id_;
   const planning::Obstacle* obstacle_ = nullptr;
   std::vector<ObjectDecisionType> decisions_;