perf(motion_velocity_planner): fix heavy resampling and transform lookup

[maxime-clem]

Description

Related links

Parent Issue:

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Tested along with #8870 and #8798

• TIER IV evaluator: all pass.
• TIER IV evaluator (processing time): 4134/4144.

How was this PR tested?

Psim and evaluator

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 27.92%. Comparing base (36640f6) to head (eb58d50).
Report is 2 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #8839   +/-   ##
=======================================
  Coverage   27.92%   27.92%           
=======================================
  Files        1324     1328    +4     
  Lines       98838    98885   +47     
  Branches    39788    39805   +17     
=======================================
+ Hits        27603    27617   +14     
- Misses      71139    71172   +33     
  Partials       96       96           

Flag	Coverage Δ		*Carryforward flag
differential	15.66% <100.00%> (?)
total	27.91% <ø> (-0.02%)	⬇️	Carriedforward from c48e44c

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

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