feat(behavior_path_planner): use akima spline for xy only first

[takayuki5168]

Description

enable option to apply akima spline for xy only first when getting centerline from lanelet.
default: false

TODO

• add a figure to compare when enabling and disabling akima spline.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (1b35a6f) 12.76% compared to head (d52a4a3) 12.76%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2800      +/-   ##
==========================================
- Coverage   12.76%   12.76%   -0.01%     
==========================================
  Files        1222     1222              
  Lines       86234    86238       +4     
  Branches    24623    24627       +4     
==========================================
  Hits        11008    11008              
- Misses      63813    63817       +4     
  Partials    11413    11413              

Flag	Coverage Δ		*Carryforward flag
differential	5.56% <0.00%> (?)
total	12.76% <ø> (+<0.01%)	⬆️	Carriedforward from 1b35a6f

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

Impacted Files	Coverage Δ
...or_path_planner/src/behavior_path_planner_node.cpp	0.13% <0.00%> (-0.01%)	⬇️
planning/behavior_path_planner/src/utilities.cpp	7.69% <0.00%> (-0.02%)	⬇️

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[TakaHoribe]

No large behavior change found, but looks ok.

Cubic

Akima

[tkimura4]

@takayuki5168
Is it ready to merge?

[takayuki5168]

@tkimura4 It seems I have to make a PR to awf/autoware_launch.
Do you wanna use this PR's function? I'm just curious about the reason you asked.

[tkimura4]

@takayuki5168
It's just a part of repository maintenance.
I've not checked the contents of the PR.