Planning: allow empty st_graph_boundary; do not return error when no mapping...

Planning: allow empty st_graph_boundary; do not return error when no mapping of obstacle. abstract redundant code to seperate function.

modules/planning/common/obstacle.h

@@ -69,6 +69,7 @@ class Obstacle {
   const common::math::Box2d &PerceptionBoundingBox() const;
 
   const prediction::Trajectory &Trajectory() const;
+  bool has_trajectory() const { return has_trajectory_; }
 
   const perception::PerceptionObstacle &Perception() const;
 

modules/planning/common/path_obstacle.h

@@ -78,6 +78,7 @@ class PathObstacle {
   std::vector<ObjectDecisionType> decisions_;
   std::vector<std::string> decider_tags_;
   SLBoundary sl_boundary_;
+  StGraphBoundary st_boundary_;
 };
 
 }  // namespace planning

modules/planning/optimizer/st_graph/st_boundary_mapper.h

@@ -57,6 +57,11 @@ class StBoundaryMapper {
 
   double GetArea(const std::vector<STPoint>& boundary_points) const;
 
+  bool GetOverlapBoundaryPoints(
+      const std::vector<apollo::common::PathPoint>& path_points,
+      const Obstacle& obstacle, std::vector<STPoint>* upper_points,
+      std::vector<STPoint>* lower_points) const;
+
   apollo::common::Status MapObstacleWithoutDecision(
       const PathObstacle& path_obstacle,
       std::vector<StGraphBoundary>* const boundary) const;

modules/planning/optimizer/st_graph/st_graph_boundary.h

@@ -55,6 +55,7 @@ class StGraphBoundary : public common::math::Polygon2d {
 
   ~StGraphBoundary() = default;
 
+  bool IsEmpty() const { return points.empty(); }
   bool IsPointInBoundary(const StGraphPoint& st_graph_point) const;
   bool IsPointInBoundary(const STPoint& st_point) const;