fix(behavior velocity planner): occlusion spot slice

[taikitanaka3]

Related Issue(required)

merge after tier4/autoware_launch-old#164 solved

Description(required)

fix slice shape won't be correct where lateral max distance to see is larger than 1/curvature.

from to

this is because offsetNoThrow function in lanelet2 create new linestring and additional point to offset linestring at joinSubstring and this means creating discrete offset polygon needs additional search of find closet at each offset linestring.

To solve, add "closest search linestring while creating polygon from, linestring"(too heavy) or "create geometric offset" linestring(this can causes inversion but in this module there is no problem for inversion because there is process of sorting each polygon by minimum arclength after this)

also since logitudinal offset is less interesting than lateral offset and to reduce computational cost combine slice polygon longitudinally.

This PR is irrelevant to spline interpolation becomes linear at curve that starts from closest point to ego and this fix will be in another PR

TODO in another PR:
consider path point including behind ego too and make pair of interest instead of trimming path.
Original path (received by the OccludedSpot module)

trim_path (modified to only contain the relevant part of the path).

Interpolated path

Review Procedure(required)

Psim
launch psim using autoware.proj
get kashiwanoha map or "some maps that includes private tag" from fms https://tools.tier4.jp/vector_map_builder_ll2/
enable sidewalk marker in Rviz

see autoware drives normally with webcontroller
http://localhost:8085/web_controller/index.html

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[taikitanaka3]

@maxime-clem
can you take a look at?

[tkimura4]

Before

After

[tkimura4]

LGTM