message: fix calculating maximum searching distance for rss check
diff: @@ -273,11 +273,6 @@ bool RssInterface::CreateWorldModel(
  ::ad::rss::world::WorldModel& rss_world_model) {
  std::vector<AgentPtr> relevent_agents;
  - // Increase searching distance for better visualization by mulitpling with checking_relevent_range_
  - double const relevant_distance =
  - static_cast<double>(ego_rss_state.min_stopping_distance) *
  - checking_relevent_range_;
  -
  geometry::Point2d ego_center(ego_rss_state.center.x, ego_rss_state.center.y);
  auto ego_av = CaculateAgentAngularVelocity(
  agents.find(ego_id)->second->GetExecutionTrajectory());
  @@ -289,7 +284,18 @@ bool RssInterface::CreateWorldModel(
  // Determine which agent is close thus relevent for safety checking
  for (const auto& other_agent : agents) {
  - if (other_agent.second->GetAgentId() != ego_id) {
  + AgentId other_agent_id = other_agent.second->GetAgentId();
  + if (other_agent_id != ego_id) {
  + ::ad::rss::world::RssDynamics other_agent_dynamics =
  + GenerateAgentDynamicsParameters(other_agent_id);
  + float other_agent_speed =
  + other_agent.second->GetCurrentState()(VEL_POSITION);
  + float relevant_distance =
  + (static_cast<float>(ego_rss_state.min_stopping_distance) +
  + CalculateMinStoppingDistance(other_agent_speed,
  + other_agent_dynamics)) *
  + checking_relevent_range_;
  +
  if (geometry::Distance(ego_center,
  other_agent.second->GetCurrentPosition()) <
  relevant_distance)
  