feat(static_obstacle_avoidance): keep object clipping even after the object becomes non-target

[satoshi-ota]

Description

⚠️ Please review autowarefoundation/autoware_launch#1036 at first.

Memolize clip target object even after the object becoms non-target in order to prevent drivable boundary from changing suddenly. (Clip: exclude drivable area based on object polygon.)

Additionally, I organized config file to select avoidance path generation method easiliy.

      # path generation method. select "shift_line_base" or "optimization_base" or "both".
      # "shift_line_base"  : Create avoidance path based on shift line.
      #                      User can control avoidance maneuver execution via RTC.
      #                      However, this method doesn't support complex avoidance scenario (e.g. S-shape maneuver).
      # "optimization_base": This module selects avoidance target object
      #                      and bpp module clips drivable area based on avoidance target object polygon shape.
      #                      But this module doesn't modify the path shape.
      #                      On the other hand, autoware_path_optimizer module optimizes path shape instead of this module
      #                      so that the path can be within drivable area. This method is able to deal with complex avoidance scenario.
      #                      However, user can't control avoidance manuever execution.
      # "both"             : Use both method.
      path_generation_method: "shift_line_base"

This movie shows the avoidance maneuver when I set this param to both.

simplescreenrecorder-2024-06-19_18.03.13.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing. (By default, this module uses only shift_line_based path generation method.)

Interface changes

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[go-sakayori]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 16.00000% with 21 lines in your changes missing coverage. Please review.

Project coverage is 13.71%. Comparing base (507e3f4) to head (efaefb6).
Report is 78 commits behind head on main.

Files	Patch %	Lines
...ath_static_obstacle_avoidance_module/src/utils.cpp	11.76%	14 Missing and 1 partial ⚠️
...ath_static_obstacle_avoidance_module/src/scene.cpp	16.66%	5 Missing ⚠️
...ath_static_obstacle_avoidance_module/src/debug.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #7591       +/-   ##
===========================================
- Coverage   14.84%   13.71%    -1.13%     
===========================================
  Files        1999      254     -1745     
  Lines      139163    26422   -112741     
  Branches    43716     5156    -38560     
===========================================
- Hits        20661     3625    -17036     
+ Misses      95731    22272    -73459     
+ Partials    22771      525    -22246     

Flag	Coverage Δ
differential	13.71% <16.00%> (?)
total	?

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