feat(obstacle_avoidance_planner): fix can be applied to the first trajectory point

[takayuki5168]

Description

• organized documentation
• implemented the fixing points algorithm to fix only the first trajectory point
  • By default, fixing points around the ego is used. So there is no behavior change

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-1775/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-1775/planning/obstacle_avoidance_planner/
• https://autowarefoundation.github.io/autoware.universe/pr-1775/planning/obstacle_avoidance_planner/debug/

[codecov]

Codecov Report

Base: 10.42% // Head: 10.34% // Decreases project coverage by -0.08% ⚠️

Coverage data is based on head (d241a8c) compared to base (19ce83b).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1775      +/-   ##
==========================================
- Coverage   10.42%   10.34%   -0.09%     
==========================================
  Files        1226     1226              
  Lines       87945    88649     +704     
  Branches    20455    20455              
==========================================
  Hits         9171     9171              
- Misses      69270    69974     +704     
  Partials     9504     9504              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.41% <0.00%> (ø)		Carriedforward from 19ce83b

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

Impacted Files	Coverage Δ
...anner/include/scene_module/traffic_light/scene.hpp	0.00% <ø> (ø)
...y_planner/src/scene_module/traffic_light/scene.cpp	0.00% <0.00%> (ø)
...lude/obstacle_avoidance_planner/common_structs.hpp	0.00% <ø> (ø)
...anner/include/obstacle_avoidance_planner/utils.hpp	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 1 more

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[kosuke55]

pull_over and pull_out works fine with this PR

[takayuki5168]

@TakaHoribe Give me LGTM!