refactor(safety_check): define filtering function in safety check library

[satoshi-ota]

Description

🤖 Generated by Copilot at 96f169b

This pull request refactors the object filtering logic in the behavior path planner by introducing two new functions: isCentroidWithinLanelet and isPolygonOverlapLanelet. These functions are used to filter objects based on their centroid position or polygon overlapping with a given lanelet. The pull request applies the new functions to various modules of the behavior path planner, such as goal planner, lane change, and start planner, to avoid duplication and improve readability.

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 52 lines in your changes are missing coverage. Please review.

Comparison is base (c763eda) 14.78% compared to head (96f169b) 14.78%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5228      +/-   ##
==========================================
- Coverage   14.78%   14.78%   -0.01%     
==========================================
  Files        1648     1648              
  Lines      113988   113964      -24     
  Branches    35102    35112      +10     
==========================================
- Hits        16858    16846      -12     
+ Misses      78202    78178      -24     
- Partials    18928    18940      +12     

Flag	Coverage Δ		*Carryforward flag
differential	12.43% <1.88%> (?)
total	14.78% <ø> (-0.01%)	⬇️	Carriedforward from c763eda

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

Files	Coverage Δ
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp	5.62% <0.00%> (+0.03%)	⬆️
...h_planner/src/utils/goal_planner/goal_searcher.cpp	1.40% <0.00%> (+0.03%)	⬆️
...ner/src/utils/start_planner/geometric_pull_out.cpp	8.10% <0.00%> (+0.96%)	⬆️
...planner/src/utils/start_planner/shift_pull_out.cpp	2.51% <0.00%> (+0.07%)	⬆️
...ne_module/lane_change/avoidance_by_lane_change.cpp	0.00% <0.00%> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	4.47% <0.00%> (-0.02%)	⬇️
...cene_module/start_planner/start_planner_module.cpp	7.08% <0.00%> (+0.03%)	⬆️
...er/src/scene_module/avoidance/avoidance_module.cpp	12.25% <16.66%> (+0.03%)	⬆️
...rc/utils/path_safety_checker/objects_filtering.cpp	7.69% <0.00%> (-0.37%)	⬇️
... and 2 more

... and 1 file with indirect coverage changes

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[kyoichi-sugahara]

LGTM!!!!
Super thanks!!!