fix(obstacle_avoidance_planner): deal with self-crossing and u-turn path

[takayuki5168]

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

Description

support u-turn and self-crossing path in obstacle_avoidance_planner

issue
#1581

Related links

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Merging #1725 (a09c213) into main (74e28ed) will decrease coverage by 0.11%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1725      +/-   ##
==========================================
- Coverage   10.25%   10.14%   -0.12%     
==========================================
  Files        1204     1204              
  Lines       86697    87667     +970     
  Branches    20020    20020              
==========================================
  Hits         8894     8894              
- Misses      68541    69511     +970     
  Partials     9262     9262              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.24% <0.00%> (ø)		Carriedforward from 74e28ed

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

Impacted Files	Coverage Δ
...lude/obstacle_avoidance_planner/common_structs.hpp	0.00% <ø> (ø)
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	0.00% <ø> (ø)
...stacle_avoidance_planner/src/costmap_generator.cpp	0.00% <0.00%> (ø)
...anning/obstacle_avoidance_planner/src/cv_utils.cpp	0.00% <0.00%> (ø)
...stacle_avoidance_planner/src/eb_path_optimizer.cpp	0.00% <0.00%> (ø)
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	0.00% <0.00%> (ø)
planning/obstacle_avoidance_planner/src/node.cpp	0.00% <0.00%> (ø)
... and 2 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.