add&get use_predicted_path

Signed-off-by: beyza <bnk@leodrive.ai>

Author: beyza

planning/behavior_velocity_dynamic_obstacle_stop_module/config/dynamic_obstacle_stop.param.yaml

@@ -14,3 +14,4 @@
       ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
       ignore_objects_behind_ego: false  # if true, ignore objects that are behind the ego vehicle
       behind_object_distance_threshold: 5.0  # [m] distance behind the ego vehicle to ignore objects
+      use_predicted_path: false  # if true, use the predicted path of the object to calculate the collision point

planning/behavior_velocity_dynamic_obstacle_stop_module/src/manager.cpp

@@ -49,7 +49,8 @@ DynamicObstacleStopModuleManager::DynamicObstacleStopModuleManager(rclcpp::Node
     getOrDeclareParameter<bool>(node, ns + ".ignore_unavoidable_collisions");
   pp.ignore_objects_behind_ego =
     getOrDeclareParameter<bool>(node, ns + ".ignore_objects_behind_ego");
-
+  pp.use_predicted_path =
+    getOrDeclareParameter<bool>(node, ns + ".use_predicted_path");
   const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo();
   pp.ego_lateral_offset =
     std::max(std::abs(vehicle_info.min_lateral_offset_m), vehicle_info.max_lateral_offset_m);

planning/behavior_velocity_dynamic_obstacle_stop_module/src/types.hpp

@@ -52,6 +52,7 @@ struct PlannerParam
   double behind_object_distance_threshold;
   bool ignore_unavoidable_collisions;
   bool ignore_objects_behind_ego;
+  bool use_predicted_path;
 };
 
 struct EgoData