perf(lane_change): only compute interpolate ego once

[zulfaqar-azmi-t4]

Description

Related to increasing performance of lane change module.

At the moment, ego pose and polyon is interpolated against its predicted path during safety check, together with target object. but this is unnecessary, as ego path can be interpolated only once.

To solve this, I have extracted ego pose and polygon computation so that it only computed once.

Related links

#2825

Tests performed

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[codecov]

Codecov Report

Base: 11.53% // Head: 11.64% // Increases project coverage by +0.11% 🎉

Coverage data is based on head (ffbefb9) compared to base (4668ddb).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2839      +/-   ##
==========================================
+ Coverage   11.53%   11.64%   +0.11%     
==========================================
  Files        1314     1314              
  Lines       92792    92802      +10     
  Branches    24996    25001       +5     
==========================================
+ Hits        10699    10805     +106     
+ Misses      70851    70661     -190     
- Partials    11242    11336      +94     

Flag	Coverage Δ		*Carryforward flag
differential	5.82% <0.00%> (?)
total	11.64% <ø> (+0.11%)	⬆️	Carriedforward from 2f4192b

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

Impacted Files	Coverage Δ
...analysis/src/control_performance_analysis_node.cpp	0.00% <ø> (ø)
...n_checker_node/obstacle_collision_checker_node.cpp	0.73% <ø> (+0.03%)	⬆️
control/shift_decider/src/shift_decider.cpp	0.00% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	23.80% <ø> (ø)
...ehavior_path_planner/src/util/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	8.26% <0.00%> (-0.11%)	⬇️
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	80.00% <0.00%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	85.71% <0.00%> (ø)
... and 6 more

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