refactor

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

Author: danielsanchezaran

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp

@@ -64,7 +64,9 @@ class PullOutPlannerBase
   virtual std::optional<PullOutPath> plan(const Pose & start_pose, const Pose & goal_pose) = 0;
 
 protected:
-  bool isPullOutPathCollided(behavior_path_planner::PullOutPath & pull_out_path) const
+  bool isPullOutPathCollided(
+    behavior_path_planner::PullOutPath & pull_out_path,
+    double collision_check_distance_from_end) const
   {
     // check for collisions
     const auto & dynamic_objects = planner_data_->dynamic_object;
@@ -81,12 +83,6 @@ class PullOutPlannerBase
     utils::path_safety_checker::filterObjectsByClass(
       pull_out_lane_stop_objects, parameters_.object_types_to_check_for_path_generation);
 
-    const auto planner_type = getPlannerType();
-    const double collision_check_distance_from_end =
-      (planner_type == PlannerType::GEOMETRIC)
-        ? parameters_.geometric_collision_check_distance_from_end
-        : parameters_.shift_collision_check_distance_from_end;
-
     return utils::checkCollisionBetweenPathFootprintsAndObjects(
       vehicle_footprint_,
       behavior_path_planner::start_planner_utils::extractCollisionCheckSection(

planning/behavior_path_start_planner_module/src/geometric_pull_out.cpp

@@ -114,7 +114,7 @@ std::optional<PullOutPath> GeometricPullOut::plan(const Pose & start_pose, const
   output.start_pose = planner_.getArcPaths().at(0).points.front().point.pose;
   output.end_pose = planner_.getArcPaths().at(1).points.back().point.pose;
 
-  if (isPullOutPathCollided(output)) {
+  if (isPullOutPathCollided(output, parameters_.geometric_collision_check_distance_from_end)) {
     return {};
   }
 

planning/behavior_path_start_planner_module/src/shift_pull_out.cpp

@@ -99,7 +99,7 @@ std::optional<PullOutPath> ShiftPullOut::plan(const Pose & start_pose, const Pos
       continue;
     }
 
-    if (isPullOutPathCollided(pull_out_path)) {
+    if (isPullOutPathCollided(pull_out_path, parameters_.shift_collision_check_distance_from_end)) {
       continue;
     }