fix(behavior_path_planner): fix path distortion of no back pull out (#2829)

[tkimura4]

Description

autowarefoundation#2829
Hotfix to beta/v0.7.0

Fix path distortion of pull out path when backward driving is disabled.
The geometric pull out assumes that the start pose and the end pose is in parallel, but when backward driving is disabled the raw current pose is used as start pose and is not refined. In this PR, the current pose is refined to the lane for the start pose.
And add a guard for discontinuity.

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[codecov-commenter]

Codecov Report

Base: 0.00% // Head: 2.82% // Increases project coverage by +2.82% 🎉

Coverage data is based on head (31a8864) compared to base (8c23304).
Patch coverage: 0.00% of modified lines in pull request are covered.

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Additional details and impacted files

@@              Coverage Diff               @@
##           beta/v0.7.0    #273      +/-   ##
==============================================
+ Coverage         0.00%   2.82%   +2.82%     
==============================================
  Files                9      70      +61     
  Lines              793    8733    +7940     
  Branches             0    4165    +4165     
==============================================
+ Hits                 0     247     +247     
- Misses             793    8274    +7481     
- Partials             0     212     +212     

Flag	Coverage Δ
differential	2.82% <0.00%> (+2.82%)	⬆️

Impacted Files	Coverage Δ
..._planner/scene_module/pull_out/pull_out_module.hpp	0.00% <ø> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	0.00% <0.00%> (ø)
.../scene_module/utils/geometric_parallel_parking.cpp	0.00% <0.00%> (ø)
...clude/object_detection/tracked_objects_display.hpp
...n/src/object_detection/tracked_objects_display.cpp
...gin/src/object_detection/object_polygon_detail.cpp
.../src/object_detection/detected_objects_display.cpp
...e/object_detection/object_polygon_display_base.hpp
...ude/object_detection/predicted_objects_display.hpp
...src/object_detection/predicted_objects_display.cpp
... and 72 more

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[1222-takeshi]

LGTM