feat(behavior_path_planner): add closest stop point to resampled points

[purewater0901]

Signed-off-by: yutaka purewater0901@gmail.com

Description

Add closest stop point to the resampled point.

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[kosuke55]

thaks, looks good

[kosuke55]

related to #1604.
It added resampling to the end of behavior_path. It removes the original stop point which is set in scene_module.
This PR can keep the original stop point.

[codecov]

Codecov Report

Merging #1691 (e49cd54) into main (8f7f923) will decrease coverage by 0.06%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1691      +/-   ##
==========================================
- Coverage   10.72%   10.65%   -0.07%     
==========================================
  Files        1103     1103              
  Lines       78394    78889     +495     
  Branches    18649    18994     +345     
==========================================
  Hits         8409     8409              
- Misses      61071    61524     +453     
- Partials     8914     8956      +42     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	10.71% <0.00%> (ø)		Carriedforward from 5ec4487

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

Impacted Files	Coverage Δ
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	0.85% <0.00%> (-0.20%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)

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