Revert "planning: STBoundaryMapper remove buffer"

This reverts commit 7912ce004e1b4b115e2743eaba9655e2b7b5f51b.

modules/planning/tasks/deciders/speed_bounds_decider/st_boundary_mapper.cc

@@ -48,6 +48,12 @@ using apollo::common::math::Box2d;
 using apollo::common::math::Vec2d;
 using apollo::common::util::StrCat;
 
+namespace {
+// TODO(all): remove them; no buffer should be added here.
+constexpr double boundary_t_buffer = 0.1;
+constexpr double boundary_s_buffer = 1.0;
+}  // namespace
+
 StBoundaryMapper::StBoundaryMapper(const SLBoundary& adc_sl_boundary,
                                    const SpeedBoundsDeciderConfig& config,
                                    const ReferenceLine& reference_line,
@@ -212,7 +218,9 @@ Status StBoundaryMapper::MapWithoutDecision(Obstacle* obstacle) const {
     return Status::OK();
   }
 
-  auto boundary = STBoundary::CreateInstance(lower_points, upper_points);
+  auto boundary = STBoundary::CreateInstance(lower_points, upper_points)
+                      .ExpandByS(boundary_s_buffer)
+                      .ExpandByT(boundary_t_buffer);
   boundary.set_id(obstacle->Id());
   const auto& prev_st_boundary = obstacle->st_boundary();
   const auto& ref_line_st_boundary = obstacle->reference_line_st_boundary();
@@ -389,7 +397,9 @@ Status StBoundaryMapper::MapWithDecision(
     lower_points.emplace_back(extend_lower_s, planning_time_);
   }
 
-  auto boundary = STBoundary::CreateInstance(lower_points, upper_points);
+  auto boundary = STBoundary::CreateInstance(lower_points, upper_points)
+                      .ExpandByS(boundary_s_buffer)
+                      .ExpandByT(boundary_t_buffer);
 
   // get characteristic_length and boundary_type.
   STBoundary::BoundaryType b_type = STBoundary::BoundaryType::UNKNOWN;
@@ -420,7 +430,6 @@ Status StBoundaryMapper::MapWithDecision(
 bool StBoundaryMapper::CheckOverlap(const PathPoint& path_point,
                                     const Box2d& obs_box,
                                     const double buffer) const {
-  /**
   // TODO(all): the code makes no sense; remove it.
   double left_delta_l = 0.0;
   double right_delta_l = 0.0;
@@ -451,26 +460,6 @@ bool StBoundaryMapper::CheckOverlap(const PathPoint& path_point,
                 vehicle_param_.length() + 2.0 * buffer,
                 vehicle_param_.width() + 2.0 * buffer);
   return obs_box.HasOverlap(adc_box);
-  **/
-
-  // TODO(all): the code makes no sense; remove it.
-  Vec2d ego_center_map_frame(
-      (vehicle_param_.front_edge_to_center() -
-       vehicle_param_.back_edge_to_center()) *
-          0.5,
-      (vehicle_param_.left_edge_to_center()  -
-       vehicle_param_.right_edge_to_center()) *
-          0.5);
-
-  ego_center_map_frame.SelfRotate(path_point.theta());
-  ego_center_map_frame.set_x(ego_center_map_frame.x() + path_point.x());
-  ego_center_map_frame.set_y(ego_center_map_frame.y() + path_point.y());
-
-  Box2d adc_box(ego_center_map_frame, path_point.theta(),
-                vehicle_param_.length(),
-                vehicle_param_.width());
-  return obs_box.HasOverlap(adc_box);
-
 }
 
 }  // namespace planning