update function's arguments

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

Author: beyza

planning/behavior_velocity_dynamic_obstacle_stop_module/src/collision.hpp

@@ -29,7 +29,7 @@ namespace behavior_velocity_planner::dynamic_obstacle_stop
 /// @return the collision point closest to ego (if any)
 std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
   const EgoData & ego_data, const geometry_msgs::msg::Pose & object_pose,
-  const tier4_autoware_utils::Polygon2d & object_footprint);
+  const tier4_autoware_utils::Polygon2d & object_footprint, const PlannerParam & params);
 
 /// @brief find the earliest collision along the ego path
 /// @param [in] ego_data ego data including its path and footprint
@@ -39,7 +39,7 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
 std::vector<Collision> find_collisions(
   const EgoData & ego_data,
   const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
-  const tier4_autoware_utils::MultiPolygon2d & obstacle_forward_footprints);
+  const tier4_autoware_utils::MultiPolygon2d & obstacle_forward_footprints, const PlannerParam & params);
 
 }  // namespace behavior_velocity_planner::dynamic_obstacle_stop
 

planning/behavior_velocity_dynamic_obstacle_stop_module/src/scene_dynamic_obstacle_stop.cpp

@@ -91,7 +91,7 @@ bool DynamicObstacleStopModule::modifyPathVelocity(PathWithLaneId * path, StopRe
     make_forward_footprints(dynamic_obstacles, params_, hysteresis);
   const auto footprints_duration_us = stopwatch.toc("footprints");
   stopwatch.tic("collisions");
-  auto collisions = find_collisions(ego_data, dynamic_obstacles, obstacle_forward_footprints);
+  auto collisions = find_collisions(ego_data, dynamic_obstacles, obstacle_forward_footprints, params_);
   update_object_map(object_map_, collisions, clock_->now(), ego_data.path.points, params_);
   std::optional<geometry_msgs::msg::Point> earliest_collision =
     find_earliest_collision(object_map_, ego_data);