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Implemented Trajectory bounding box cache in RecordReplayPlanner

Jit Ray Chowdhury requested to merge recordreplay_planner-traj-bbox-cache into master

Description

In RecordReplayPlanner, while replaying everytime a new state is received, the trajectory is recalculated, to check for new starting index and for collision with an obstacle. Ego bounding boxes are generated on the trajectory point for collision detection. These bounding boxes can be cached as when the recorded data is not changing.

Notes for Reviewer

The Trajectory bounding box cache is implemented here, as mentioned in a TODO

This also makes setting up debug visualization easier.

Checklist

  • Documentation was updated
Edited by Jit Ray Chowdhury

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