refactor(safety_check): support lambda function in target filtering logic

[satoshi-ota]

Description

🤖 Generated by Copilot at dc4d64f

This pull request enhances the behavior path planner by adding polygon utilities and custom filtering functions for predicted objects by lanelets. These changes improve the logic and performance of the goal planner, the avoidance by lane change, the start planner, and the path safety checker modules. The pull request also refactors some existing functions and adds a new function toPolygon2d to convert lanelets to polygons.

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[kyoichi-sugahara]

LGTM!!!!

[codecov]

Codecov Report

Attention: 59 lines in your changes are missing coverage. Please review.

Comparison is base (68544c7) 14.80% compared to head (6d09dca) 14.80%.
Report is 11 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5210      +/-   ##
==========================================
- Coverage   14.80%   14.80%   -0.01%     
==========================================
  Files        1648     1648              
  Lines      113860   113898      +38     
  Branches    35049    35059      +10     
==========================================
  Hits        16861    16861              
- Misses      78081    78119      +38     
  Partials    18918    18918              

Flag	Coverage Δ		*Carryforward flag
differential	12.50% <0.00%> (?)
total	14.81% <ø> (+<0.01%)	⬆️	Carriedforward from 68544c7

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

Files	Coverage Δ
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...rc/utils/path_safety_checker/objects_filtering.cpp	7.94% <0.00%> (+0.30%)	⬆️
.../scene_module/goal_planner/goal_planner_module.cpp	5.58% <0.00%> (-0.04%)	⬇️
...ne_module/lane_change/avoidance_by_lane_change.cpp	0.00% <0.00%> (ø)
...cene_module/start_planner/start_planner_module.cpp	7.04% <0.00%> (-0.06%)	⬇️
...h_planner/src/utils/goal_planner/goal_searcher.cpp	1.37% <0.00%> (-0.04%)	⬇️
...ner/src/utils/start_planner/geometric_pull_out.cpp	7.14% <0.00%> (-0.97%)	⬇️
...planner/src/utils/start_planner/shift_pull_out.cpp	2.43% <0.00%> (-0.08%)	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	13.59% <0.00%> (-0.07%)	⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	9.54% <0.00%> (-0.09%)	⬇️

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