add some TODOs

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp

@@ -34,6 +34,7 @@ Overlap calculate_overlap(
   Overlap overlap;
   const auto & left_bound = lanelet.leftBound2d().basicLineString();
   const auto & right_bound = lanelet.rightBound2d().basicLineString();
+  // TODO(Maxime): these intersects (for each path footprint, for each lanelet) are too expensive
   const auto overlap_left = boost::geometry::intersects(path_footprint, left_bound);
   const auto overlap_right = boost::geometry::intersects(path_footprint, right_bound);
 

planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp

@@ -99,6 +99,7 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
       });
     if (overlapped_lanelet_it != other_lanelets.end()) {
       debug_data_.current_overlapped_lanelets.push_back(*overlapped_lanelet_it);
+      // TODO(Maxime): we may want to just add the overlapped lane to the ignored lanelets
       RCLCPP_DEBUG(logger_, "Ego is already overlapping a lane, skipping the module ()\n");
       return true;
     }