refactor(obstacle_avoidance_planner): node refactoring

[takayuki5168]

Description

just refactoring. no behavior change.

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[codecov]

Codecov Report

Base: 10.44% // Head: 10.24% // Decreases project coverage by -0.20% ⚠️

Coverage data is based on head (7fd511b) compared to base (23e261c).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1829      +/-   ##
==========================================
- Coverage   10.44%   10.24%   -0.21%     
==========================================
  Files        1233     1237       +4     
  Lines       88027    89776    +1749     
  Branches    20501    20501              
==========================================
  Hits         9197     9197              
- Misses      69319    71068    +1749     
  Partials     9511     9511              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.43% <0.00%> (ø)		Carriedforward from 23e261c

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

Impacted Files	Coverage Δ
...t/include/lidar_centerpoint/centerpoint_config.hpp	0.00% <ø> (ø)
perception/lidar_centerpoint/src/node.cpp	0.00% <0.00%> (ø)
...lude/obstacle_avoidance_planner/common_structs.hpp	0.00% <ø> (ø)
...e/obstacle_avoidance_planner/costmap_generator.hpp	0.00% <ø> (ø)
...e/obstacle_avoidance_planner/eb_path_optimizer.hpp	0.00% <ø> (ø)
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	0.00% <ø> (ø)
...lanner/include/obstacle_avoidance_planner/node.hpp	0.00% <0.00%> (ø)
...include/obstacle_avoidance_planner/utils/utils.hpp	0.00% <0.00%> (ø)
...stacle_avoidance_planner/src/costmap_generator.cpp	0.00% <0.00%> (ø)
...stacle_avoidance_planner/src/eb_path_optimizer.cpp	0.00% <0.00%> (ø)
... and 15 more

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[kosuke55]

With this PR, the arc path can not be kept after starting driving from stopped.

before

refactor_avoidance_pull_over-2022-09-12_12.31.29.mp4

after

refactor_avoidance_pull_over-2022-09-12_12.26.51.mp4

For generating this issue, set enable_shift_parking and enable_arc_backward_parking to false

https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml