feat(behavior_path_planner): use efficient lateral distance calculation

[purewater0901]

Description

Use more efficient function to compute lateral distance computation.

The results are

Old Computation time: 29345[ns]
New Computation time: 27284[ns]

It almost 10% faster than previous one

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.

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.

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

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (0d4e444) 11.86% compared to head (cd64e9a) 11.86%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3041      +/-   ##
==========================================
- Coverage   11.86%   11.86%   -0.01%     
==========================================
  Files        1333     1333              
  Lines       92786    92792       +6     
  Branches    24649    24654       +5     
==========================================
  Hits        11011    11011              
- Misses      70364    70370       +6     
  Partials    11411    11411              

Flag	Coverage Δ		*Carryforward flag
differential	5.55% <0.00%> (?)
total	11.86% <ø> (+<0.01%)	⬆️	Carriedforward from 0d4e444

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

Impacted Files	Coverage Δ
...lanner/include/behavior_path_planner/utilities.hpp	23.80% <ø> (ø)
...ehavior_path_planner/src/util/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	7.54% <0.00%> (-0.05%)	⬇️

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

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

[purewater0901]

evaluator 882/882

[purewater0901]

https://evaluation.tier4.jp/evaluation/reports/f7e90b90-c426-5862-b799-47aa1437b4d8?project_id=prd_jt

[zulfaqar-azmi-t4]

Seems like there is some issues when computing the lane change path under curved situation.

This is the result before PR

before.PR.mp4

This is the result after PR

after.PR.mp4

[purewater0901]

@zulfaqar-azmi-t4

I tried quite a few times, but I couldn't reproduce your bags

drivable_area_rviz_plugin-2023-03-13_12.23.06.mp4

[zulfaqar-azmi-t4]

@purewater0901
Yes, I can't reproduce in my home setup as well.