refactor(goal_planner): divide extract_dynamic_object/is_goal_in_lanes util function

[soblin]

Description

move some functions as utility function

for minimizing diff for this PR #10005

Related links

Parent Issue:

• Link

How was this PR tested?

https://evaluation.tier4.jp/evaluation/reports/aea0f58b-8b1b-5001-9025-f043b4902dd3?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 38 lines in your changes missing coverage. Please review.

Project coverage is 29.73%. Comparing base (5872113) to head (47cface).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...are_behavior_path_goal_planner_module/src/util.cpp	0.00%	33 Missing ⚠️
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10019      +/-   ##
==========================================
- Coverage   29.74%   29.73%   -0.02%     
==========================================
  Files        1435     1438       +3     
  Lines      108308   108377      +69     
  Branches    42955    42955              
==========================================
  Hits        32221    32221              
- Misses      72958    73027      +69     
  Partials     3129     3129              

Flag	Coverage Δ		*Carryforward flag
differential	0.50% <0.00%> (?)
total	29.75% <ø> (+<0.01%)	⬆️	Carriedforward from 5872113

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

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