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feat(behavior_velocity): add jerk limit for occlusion spot decelerati…
…on (autowarefoundation#344) * fix(behavior_velocity): use general naming Signed-off-by: taikitanaka3 <taiki.tanaka@tier4.jp> * feat(behavior_velocity): safe velocity consider jerk limit Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): apply safe velocity and offset Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): consider delay response Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat(behavior_velocity): update gtest of caliculation of velocity Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * feat(behavior_velocity): add margin for debug viz Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix(behavior_velocity): fix stop dist Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * feat(behavior_velocity): consider safety margin Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * doc(behavior_velocity): update doc Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): revert lateral distance threshold param Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * feat(behavior_velocity): use same velocity after passing safe margin point Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * doc(behavior_velocity): update doc Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): rename collision point to collision point with margin Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): add collision marker Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * ci(pre-commit): autofix * chore(behavior_velocity): better expression of safe motion Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore(behavior_velocity): fix better naming and change ego min slow down method Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * doc(behavior_velocity): update doc * doc(behavior_velocity): update figure Signed-off-by: tanaka3 <ttatcoder@outlook.jp> Co-authored-by: taikitanaka3 <taiki.tanaka@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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