From 72d26908d327b53e2eb15134bb9264d9e785c11a Mon Sep 17 00:00:00 2001
From: Liangliang Zhang <zhangliangliang@baidu.com>
Date: Mon, 3 Dec 2018 12:33:00 -0800
Subject: [PATCH] Planning: removed IsVirtualObstacle.

---
 modules/planning/common/obstacle.cc                          | 2 +-
 modules/planning/common/obstacle.h                           | 5 -----
 modules/planning/common/obstacle_test.cc                     | 2 +-
 .../toolkits/optimizers/road_graph/trajectory_cost.cc        | 2 +-
 4 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/modules/planning/common/obstacle.cc b/modules/planning/common/obstacle.cc
index 9eac16cd09..6d5dcd5b14 100644
--- a/modules/planning/common/obstacle.cc
+++ b/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());
 }
diff --git a/modules/planning/common/obstacle.h b/modules/planning/common/obstacle.h
index 5dc3904f02..5163816409 100644
--- a/modules/planning/common/obstacle.h
+++ b/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);
 
diff --git a/modules/planning/common/obstacle_test.cc b/modules/planning/common/obstacle_test.cc
index bbc8236d5d..038651b311 100644
--- a/modules/planning/common/obstacle_test.cc
+++ b/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());
diff --git a/modules/planning/toolkits/optimizers/road_graph/trajectory_cost.cc b/modules/planning/toolkits/optimizers/road_graph/trajectory_cost.cc
index c804e9037c..5ad24bca80 100644
--- a/modules/planning/toolkits/optimizers/road_graph/trajectory_cost.cc
+++ b/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) {
-- 
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