fix(behavior_path_planner): lane change ego and target polygon pose

[zulfaqar-azmi-t4]

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

The current lane change ego polygon's pose is not same with ego actual pose.
Furthermore, when due to floating error when computing projected point on polygon segment, the position of object and ego keeps on changing when both is not moving.

The PR aims to solve this issue.

Before PR (ego's polygon position is wrong, and position details in object marker is alternating constantly.

2022-09-05-19-32-23.mp4

After PR (ego's polygon position is correct, and position details in object marker is stable.

2022-09-05-19-18-37.mp4

Related links

Tests performed

Use PSIM to simulate lane change and turn on debug marker.

Notes for reviewers

This PR also include refactoring.

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[codecov]

Codecov Report

Base: 10.29% // Head: 10.35% // Increases project coverage by +0.06% 🎉

Coverage data is based on head (82e6834) compared to base (47c77c7).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1786      +/-   ##
==========================================
+ Coverage   10.29%   10.35%   +0.06%     
==========================================
  Files        1147     1224      +77     
  Lines       81918    88654    +6736     
  Branches    19049    21090    +2041     
==========================================
+ Hits         8433     9182     +749     
- Misses      64363    69914    +5551     
- Partials     9122     9558     +436     

Flag	Coverage Δ		*Carryforward flag
differential	1.26% <0.00%> (?)
total	10.45% <0.00%> (+0.17%)	⬆️	Carriedforward from 4fb8ff1

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

Impacted Files	Coverage Δ
...er/scene_module/lane_change/lane_change_module.hpp	0.00% <ø> (ø)
...nner/scene_module/lane_change/lane_change_path.hpp	0.00% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	27.27% <ø> (+2.27%)	⬆️
...ath_planner/src/scene_module/lane_change/debug.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...path_planner/src/scene_module/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	2.69% <0.00%> (-0.44%)	⬇️
...n/motion_utils/test/src/resample/test_resample.cpp	25.66% <0.00%> (-0.28%)	⬇️
...ils/include/motion_utils/trajectory/trajectory.hpp	78.81% <0.00%> (-0.11%)	⬇️
... and 261 more

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[rej55]

LGTM

[shmpwk]

LGTM!