fix(freespace_planner): collision check

[kosuke55]

Description

fix #662

Related links

#662

Tests performed

I haven't reproduced this bug so not tested.

Notes for reviewers

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.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

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.
• The PR is ready for merge.

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

[kosuke55]

@TakaHoribe
I can't set @HiroIshida as a reviewer, so please review it.

[codecov]

Codecov Report

Merging #985 (6771510) into main (3f25602) will increase coverage by 0.02%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main     #985      +/-   ##
==========================================
+ Coverage   10.37%   10.39%   +0.02%     
==========================================
  Files        1136     1136              
  Lines       79480    79501      +21     
  Branches    18483    18492       +9     
==========================================
+ Hits         8245     8265      +20     
  Misses      63032    63032              
- Partials     8203     8204       +1     

Flag	Coverage Δ		*Carryforward flag
differential	47.57% <100.00%> (?)
total	10.35% <100.00%> (ø)		Carriedforward from 3f25602

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

Impacted Files	Coverage Δ
...ace_planning_algorithms/src/abstract_algorithm.cpp	76.53% <100.00%> (-1.40%)	⬇️
.../freespace_planning_algorithms/src/reeds_shepp.cpp	56.89% <0.00%> (+1.72%)	⬆️

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 3f25602...6771510. Read the comment docs.

[xmfcx]

@kosuke55 do you know if this PR would fix this issue:

• Can't stop before blocking obstacle in parking #980

[kosuke55]

@xmfcx
I have not checked it but maybe NO. This PR only slightly changed collision check range, so that probably won't fix the issue.

[brkay54]

Thank you for this PR, I think you are right, in current implementation boundaries of the vehicle may not be added to coll_indexes_table_ exactly. Your implementation should solve this issue. Code is also well, I approved.

[kosuke55]

@brkay54
thank you for your review!