Implemented Trajectory bounding box cache in RecordReplayPlanner
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
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Documentation was updated
Edited by Jit Ray Chowdhury