separate object parameters between each classification label

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml

@@ -30,19 +30,25 @@
 
       objects:
         target_labels: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"]
-        minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
-        predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
-        ignore:  # options to ignore some objects
-          if_stopped: true  # if true, object with a velocity bellow the threshold are ignored
-          stopped_velocity_threshold: 0.5  # [m/s]
-          if_on_ego_trajectory: true  # if true, object located on the ego trajectory footprint are ignored
-          if_behind_ego: true  # if true, objects located behind the ego vehicles are ignored
-          if_pedestrian_on_crosswalk: true # if true, pedestrians located on a crosswalk are ignored
-          if_vehicle_on_yield_lane: true  # if true, non-pedestrians are ignored if coming from a lane yielding to the ego lane
-        confidence_filtering:
-          threshold: 0.0  # [-] only use predicted paths with a higher confidence value than this threshold
-          only_use_highest: true  # if true, only the path(s) with the highest confidence are used
-        cut_predicted_paths:  # options to cut predicted paths of dynamic objects
-          if_crossing_ego_from_behind: true # if true, cut after crossing the ego vehicle
-          polygon_types: ["crosswalk"]  # types of polygons in the vector map used to cut predicted paths
-          linestring_types: ["guard_rail"]  # types of linestrings in the vector map used to cut predicted paths
+        # for each target labels we can specify the following parameters
+        DEFAULT:
+          ignore:  # options to ignore some objects
+            if_stopped: false # if true, object with a velocity bellow the threshold are ignored
+            stopped_velocity_threshold: 0.5  # [m/s]
+            if_on_ego_trajectory: true  # if true, object located on the ego trajectory footprint are ignored
+            if_behind_ego: true  # if true, objects located behind the ego vehicles are ignored
+            if_on_crosswalk: false # if true, objects located on a crosswalk are ignored
+            if_on_yield_lane: true  # if true, objects are ignored if coming from a lane yielding to the ego lane
+          confidence_filtering:
+            threshold: 0.0  # [-] only use predicted paths with a higher confidence value than this threshold
+            only_use_highest: true  # if true, only the path(s) with the highest confidence are used
+          cut_predicted_paths:  # options to cut predicted paths of dynamic objects
+            if_crossing_ego_from_behind: true # if true, cut after crossing the ego vehicle
+            polygon_types: ["NONE"]  # types of polygons in the vector map used to cut predicted paths
+            linestring_types: ["guard_rail"]  # types of linestrings in the vector map used to cut predicted paths
+        PEDESTRIAN:
+          ignore:  # options to ignore some objects
+            if_on_crosswalk: true # if true, pedestrians located on a crosswalk are ignored
+            if_on_yield_lane: false # if true, non-pedestrians are ignored if coming from a lane yielding to the ego lane
+          cut_predicted_paths:  # options to cut predicted paths of dynamic objects
+            polygon_types: ["crosswalk"]  # types of polygons in the vector map used to cut predicted paths