feat(behavior_velocity): add insertDecel point function

[taikitanaka3]

Signed-off-by: tanaka3 ttatcoder@outlook.jp

Description

use insert decel point function as planning utils
#361

this PR changes

• make insertDecelPoint function in util in behavior velocity planner and apply to occlusion spot module
• insertDecelPoint To insertDecelPontWithDebugInfo which is equal to previous version.

remaining TODOs

• interpolate yaw better way
• consider overlap threshold of distance

note: insert decel point accuracy should be above 2e-5 in order not to insert odd point by using motion utils insertTargetPoint

• before

simplescreenrecorder-2022-08-08_10.17.48.mp4

• after

experiment-2022-08-18_14.27.41.mp4

internal link

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[codecov]

Codecov Report

Merging #1615 (9852ba9) into main (5772020) will increase coverage by 0.01%.
The diff coverage is 24.00%.

@@            Coverage Diff             @@
##             main    #1615      +/-   ##
==========================================
+ Coverage   10.77%   10.79%   +0.01%     
==========================================
  Files        1111     1111              
  Lines       78527    78725     +198     
  Branches    18552    18681     +129     
==========================================
+ Hits         8465     8495      +30     
- Misses      61203    61364     +161     
- Partials     8859     8866       +7     

Flag	Coverage Δ		*Carryforward flag
differential	4.70% <0.00%> (?)
total	10.76% <28.57%> (ø)		Carriedforward from 5772020

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

Impacted Files	Coverage Δ
...vior_velocity_planner/include/utilization/util.hpp	0.00% <ø> (ø)
...ner/src/scene_module/crosswalk/scene_crosswalk.cpp	0.00% <0.00%> (ø)
..._module/occlusion_spot/risk_predictive_braking.cpp	52.00% <0.00%> (ø)
...behavior_velocity_planner/src/utilization/util.cpp	22.75% <46.15%> (+3.58%)	⬆️

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