Planning: removed IsVirtualObstacle.

modules/planning/common/obstacle.cc

@@ -90,7 +90,7 @@ Obstacle::Obstacle(const std::string& id,
       << perception_obstacle.DebugString();
 
   is_static_ = (is_static || obstacle_priority == ObstaclePriority::IGNORE);
-  is_virtual_ = IsVirtualObstacle(perception_obstacle);
+  is_virtual_ = (perception_obstacle.id() < 0);
   speed_ = std::hypot(perception_obstacle.velocity().x(),
                       perception_obstacle.velocity().y());
 }

modules/planning/common/obstacle.h

@@ -119,11 +119,6 @@ class Obstacle {
   static std::unique_ptr<Obstacle> CreateStaticVirtualObstacles(
       const std::string& id, const common::math::Box2d& obstacle_box);
 
-  static bool IsVirtualObstacle(
-      const perception::PerceptionObstacle& perception_obstacle) {
-    return perception_obstacle.id() < 0;
-  }
-
   static bool IsValidPerceptionObstacle(
       const perception::PerceptionObstacle& obstacle);
 

modules/planning/common/obstacle_test.cc

@@ -187,7 +187,7 @@ TEST(Obstacle, CreateStaticVirtualObstacle) {
       Obstacle::CreateStaticVirtualObstacles("abc", box);
   EXPECT_EQ("abc", obstacle->Id());
   EXPECT_EQ(-314721735, obstacle->PerceptionId());
-  EXPECT_TRUE(Obstacle::IsVirtualObstacle(obstacle->Perception()));
+  EXPECT_TRUE(obstacle->IsVirtual());
   auto& perception_box = obstacle->PerceptionBoundingBox();
   EXPECT_DOUBLE_EQ(0.0, perception_box.center().x());
   EXPECT_DOUBLE_EQ(0.0, perception_box.center().y());

modules/planning/toolkits/optimizers/road_graph/trajectory_cost.cc

@@ -83,7 +83,7 @@ TrajectoryCost::TrajectoryCost(const DpPolyPathConfig &config,
          ptr_obstacle->Perception().type() ==
              perception::PerceptionObstacle::PEDESTRIAN);
 
-    if (Obstacle::IsVirtualObstacle(ptr_obstacle->Perception())) {
+    if (ptr_obstacle->IsVirtual()) {
       // Virtual obstacle
       continue;
     } else if (ptr_obstacle->IsStatic() || is_bycycle_or_pedestrian) {