Planning: move path_assessment_decider into a single folder.

modules/planning/tasks/BUILD

@@ -37,7 +37,7 @@ cc_library(
         ":task",
         "//modules/planning/proto:planning_config_proto",
         "//modules/planning/tasks/deciders:decider",
-        "//modules/planning/tasks/deciders:path_assessment_decider",
+        "//modules/planning/tasks/deciders/path_assessment_decider:path_assessment_decider",
         "//modules/planning/tasks/deciders/path_bounds_decider:path_bounds_decider",
         "//modules/planning/tasks/deciders/path_lane_borrow_decider",
         "//modules/planning/tasks/optimizers/dp_st_speed:dp_st_speed_optimizer",

modules/planning/tasks/deciders/BUILD

@@ -46,25 +46,6 @@ cc_library(
     ],
 )
 
-cc_library(
-    name = "path_assessment_decider",
-    srcs = [
-        "path_assessment_decider.cc",
-    ],
-    hdrs = [
-        "path_assessment_decider.h",
-    ],
-    copts = ["-DMODULE_NAME=\\\"planning\\\""],
-    deps = [
-        ":decider_base",
-        ":path_decider_obstacle_utils",
-        "//modules/planning/common:planning_context",
-        "//modules/planning/common:planning_gflags",
-        "//modules/planning/common:reference_line_info",
-        "//modules/planning/tasks/deciders/path_bounds_decider:path_bounds_decider"
-    ],
-)
-
 cc_library(
     name = "path_decider_obstacle_utils",
     srcs = [

modules/planning/tasks/deciders/path_assessment_decider/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "path_assessment_decider",
+    srcs = [
+        "path_assessment_decider.cc",
+    ],
+    hdrs = [
+        "path_assessment_decider.h",
+    ],
+    copts = ["-DMODULE_NAME=\\\"planning\\\""],
+    deps = [
+        "//modules/planning/common:planning_context",
+        "//modules/planning/common:planning_gflags",
+        "//modules/planning/common:reference_line_info",
+        "//modules/planning/tasks/deciders/path_bounds_decider:path_bounds_decider",
+        "//modules/planning/tasks/deciders:decider_base",
+        "//modules/planning/tasks/deciders:path_decider_obstacle_utils",
+    ],
+)
+
+cpplint()
\ No newline at end of file

modules/planning/tasks/deciders/path_assessment_decider.cc → modules/planning/tasks/deciders/path_assessment_decider/path_assessment_decider.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/tasks/deciders/path_assessment_decider.h"
+#include "modules/planning/tasks/deciders/path_assessment_decider/path_assessment_decider.h"
 
 #include <algorithm>
 #include <cmath>

modules/planning/tasks/task_factory.cc

@@ -27,7 +27,7 @@
 #include "modules/planning/tasks/deciders/open_space_fallback_decider.h"
 #include "modules/planning/tasks/deciders/open_space_pre_stop_decider.h"
 #include "modules/planning/tasks/deciders/open_space_roi_decider.h"
-#include "modules/planning/tasks/deciders/path_assessment_decider.h"
+#include "modules/planning/tasks/deciders/path_assessment_decider/path_assessment_decider.h"
 #include "modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.h"
 #include "modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.h"
 #include "modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.h"