* The function has no use case.
* The function is misleading.

* easier to read and test

* The input and output will be cleaner

ObjectDecision is generated in the context of Obstacle and Path.
Therefore, ObjectDecision is managed by PathObstacle.

module: planning -- changed GetGraphBoundary return from PLANNING_ERROR to PLANNING_SKIP when decision does not need to map.

refactored the MapStopDecision function in StGraphMapper

* add file util

* fixed Aug 4th conflicts

distance

Thanks to @haoyang