feat(trajectory_modifier, backup_planner): enable filtering objects by type and shape - #3255
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feat(trajectory_modifier, backup_planner): enable filtering objects by type and shape#3255mkquda wants to merge 3 commits into
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@mkquda Thank you for contributing to TIER IV E2E branch! Edit the checklist below and check the boxes as you complete the items. Things to check before mergingPlease check the following points before merging:
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Jul 28, 2026
- update obstacle_stop params in modifier and backup planner to specify enabled types per shape - update surround_obstacle_stop params in modifier and backup planner to specify enabled types per shape - modify ObjectFilter code in obstacle_stop_utils to support filtering by type and shape - modify ObstacleProximityChecker class to support filtering by type and shape - fix ObstacleTracker logic for ignoring orientation change Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp>
…ory_modifier/trajectory_modifier_utils/obstacle_stop_utils.hpp Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
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Signed-off-by: Mohammad Alqudah <alqudah.mohammad@tier4.jp>
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This PR applies the following changes for extending object filtering to consider shape:
obstacle_stopparams in modifier and backup planner to specify enabled types per shapesurround_obstacle_stopparams in modifier and backup planner to specify enabled types per shapeObjectFiltercode inobstacle_stop_utilsto support filtering by type and shapeObstacleProximityCheckerclass to support filtering by type and shapeObstacleTrackerlogic for ignoring orientation changerequires https://github.com/tier4/autoware_launch.x2/pull/2778