Merge pull request #1239 from tier4/feature/speed_up_set_other_status

Feature/speed up set other status

simulation/traffic_simulator/src/entity/entity_base.cpp

@@ -685,25 +685,8 @@ void EntityBase::setEntityTypeList(
 void EntityBase::setOtherStatus(
   const std::unordered_map<std::string, CanonicalizedEntityStatus> & status)
 {
-  other_status_.clear();
-  for (const auto & [other_name, other_status] : status) {
-    if (other_name != name) {
-      /*
-         The following filtering is the code written for the purpose of
-         reducing the calculation load, but it is commented out experimentally
-         because it adversely affects "processing that needs to identify other
-         entities regardless of distance" such as RelativeTargetSpeed of
-         requestSpeedChange.
-      */
-      // const auto p0 = other_status.pose.position;
-      // const auto p1 = status_.pose.position;
-      // if (const auto distance = std::hypot(p0.x - p1.x, p0.y - p1.y, p0.z - p1.z); distance <
-      // 30)
-      // {
-      other_status_.emplace(other_name, other_status);
-      // }
-    }
-  }
+  other_status_ = status;
+  other_status_.erase(name);
 }
 
 auto EntityBase::setStatus(const CanonicalizedEntityStatus & status) -> void