Planning: ignore UNKNOWN and KEEPCLEAR obstacle in GetUnblockSRange()

modules/planning/common/speed/st_boundary.cc

@@ -179,10 +179,9 @@ bool STBoundary::GetUnblockSRange(const double curr_time, double* s_upper,
   }
 
   const double r =
-      (left == right
-           ? 0.0
-           : (curr_time - upper_points_[left].t()) /
-                 (upper_points_[right].t() - upper_points_[left].t()));
+      (left == right ? 0.0 : (curr_time - upper_points_[left].t()) /
+                                 (upper_points_[right].t() -
+                                  upper_points_[left].t()));
 
   double upper_cross_s =
       upper_points_[left].s() +
@@ -198,9 +197,8 @@ bool STBoundary::GetUnblockSRange(const double curr_time, double* s_upper,
   } else if (boundary_type_ == BoundaryType::OVERTAKE) {
     *s_lower = std::fmax(*s_lower, upper_cross_s);
   } else {
-    AERROR << "boundary_type is not supported. boundary_type: "
+    ADEBUG << "boundary_type is not supported. boundary_type: "
            << static_cast<int>(boundary_type_);
-    return false;
   }
   return true;
 }
@@ -220,10 +218,9 @@ bool STBoundary::GetBoundarySRange(const double curr_time, double* s_upper,
     return false;
   }
   const double r =
-      (left == right
-           ? 0.0
-           : (curr_time - upper_points_[left].t()) /
-                 (upper_points_[right].t() - upper_points_[left].t()));
+      (left == right ? 0.0 : (curr_time - upper_points_[left].t()) /
+                                 (upper_points_[right].t() -
+                                  upper_points_[left].t()));
 
   *s_upper = upper_points_[left].s() +
              r * (upper_points_[right].s() - upper_points_[left].s());