MotionPlanResponse and MotionPlanDetailedResponse are redundant

[AndyZe]

MotionPlanResponse and MotionPlanDetailedResponse are very similar. MotionPlanDetailedResponse is mostly a vectorized version of the other. Why can't we get rid of MotionPlanResponse and always use the vectorized version?

[AndyZe]

I'm curious what @sjahr would say about this b/c he's been poking around in this code recently.

[sjahr]

@henningkayser and I discussed that when I was working on that part of the code here but changing it was beyond the scope of the PR (Should have opened an issue like this though). I think this would be a good idea although, as Henning pointed out, the detailed response includes a vector of trajectories. We need decide if we want to keep it. What do you think?

[henningkayser]

The detailed version is for debugging and may produce some overhead. I wouldn't really remove any of those, since we would have to pass a debug flag with the request to either get the vectors filled or not. However, we could argue that a better debugging interface would report from the individual planning steps directly, e.g. with callbacks returning individual MotionPlanResponse messages from the planners or adapters.

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This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

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This issue was closed because it has been stalled for 45 days with no activity.