refactor(behavior_velocity_planner): create and use util functions

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

refactor behavior velocity planner by creating and using util functions.
fix #361

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[codecov]

Codecov Report

Merging #1599 (8b254f4) into main (7176ea5) will decrease coverage by 0.06%.
The diff coverage is 13.75%.

@@            Coverage Diff             @@
##             main    #1599      +/-   ##
==========================================
- Coverage   10.77%   10.71%   -0.07%     
==========================================
  Files        1111     1111              
  Lines       78548    79676    +1128     
  Branches    18555    19293     +738     
==========================================
+ Hits         8465     8538      +73     
- Misses      61226    62193     +967     
- Partials     8857     8945      +88     

Flag	Coverage Δ		*Carryforward flag
differential	4.74% <5.88%> (?)
total	10.76% <21.42%> (ø)		Carriedforward from 7176ea5

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...n_capture_rviz_plugin/src/screen_capture_panel.cpp	0.00% <0.00%> (ø)
...n_capture_rviz_plugin/src/screen_capture_panel.hpp	0.00% <ø> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	57.14% <ø> (ø)
...y_planner/include/scene_module/stop_line/scene.hpp	0.00% <ø> (ø)
...city_planner/include/utilization/arc_lane_util.hpp	28.35% <0.00%> (-12.07%)	⬇️
...vior_velocity_planner/include/utilization/util.hpp	0.00% <0.00%> (ø)
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...ocity_planner/src/scene_module/crosswalk/debug.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/crosswalk/scene_crosswalk.cpp	0.00% <0.00%> (ø)
...anner/src/scene_module/crosswalk/scene_walkway.cpp	0.00% <0.00%> (ø)
... and 29 more

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[taikitanaka3]

@takayuki5168
can you run CI to check if there is no degration?

[taikitanaka3]

I approve this change but please wait for other approvers

[takayuki5168]

I confirmed that every maintainer approved the changes and no degration was found.
https://evaluation.tier4.jp/evaluation/reports/e6a4142d-21d1-5fb2-b73f-a3efe5111c09?project_id=prd_jt (TIER IV internal link)