fix(obstacle_avoidance_planner): use prev eb traj when failed

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

When elastic band optimization failed, the previous elastic band optimized trajectory will be used. This mechanism is already applied to model predictive trajectory optimization.

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[codecov]

Codecov Report

Merging #1192 (f027274) into main (d27e83d) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1192      +/-   ##
========================================
- Coverage   9.59%   9.56%   -0.03%     
========================================
  Files       1042    1042              
  Lines      71837   72007     +170     
  Branches   15590   15590              
========================================
  Hits        6890    6890              
- Misses     58978   59148     +170     
  Partials    5969    5969              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.57% <0.00%> (ø)		Carriedforward from d27e83d

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

Impacted Files	Coverage Δ
...e/obstacle_avoidance_planner/eb_path_optimizer.hpp	0.00% <ø> (ø)
...anner/include/obstacle_avoidance_planner/utils.hpp	0.00% <ø> (ø)
...stacle_avoidance_planner/src/eb_path_optimizer.cpp	0.00% <0.00%> (ø)
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	0.00% <0.00%> (ø)
planning/obstacle_avoidance_planner/src/utils.cpp	0.00% <0.00%> (ø)

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[tkimura4]

LGTM

It is a PR to avoid using the solution of elastic band when the optimization does not converge.

It has been confirmed that PR works properly using autoware evaluator.