fix(motion_velocity_smoother): fix terminal velocity optimization

[purewater0901]

Description

Before this PR, motion velocity smoother computes optimal velocity with the terminal velocity = 0.1[m/s] even though we set the terminal velocity as 0.0[m/s]. This is caused by a inappropriate terminal velocity approximation in the optimization setting. In this PR, I fixed it by ignoring the terminal decision variable when the v_max is less than 0.01[m/s].

• Before the PR

[motion_velocity_smoother-26] v[0]: 0.25
[motion_velocity_smoother-26] v[1]: 0.287228
[motion_velocity_smoother-26] v[2]: 0.409081
[motion_velocity_smoother-26] v[3]: 0.544225
[motion_velocity_smoother-26] v[4]: 0.676198
[motion_velocity_smoother-26] v[5]: 0.802665
[motion_velocity_smoother-26] v[6]: 0.918985
[motion_velocity_smoother-26] v[7]: 1.02216
[motion_velocity_smoother-26] v[8]: 1.11583
[motion_velocity_smoother-26] v[9]: 1.20223
[motion_velocity_smoother-26] v[10]: 1.28282
[motion_velocity_smoother-26] v[11]: 3.13065
[motion_velocity_smoother-26] v[12]: 4.23153
[motion_velocity_smoother-26] v[13]: 5.09729
[motion_velocity_smoother-26] v[14]: 5.83432
[motion_velocity_smoother-26] v[15]: 6.487
[motion_velocity_smoother-26] v[16]: 7.07891
[motion_velocity_smoother-26] v[17]: 7.62433
[motion_velocity_smoother-26] v[18]: 8.13246
[motion_velocity_smoother-26] v[19]: 8.43285
[motion_velocity_smoother-26] v[20]: 8.50078
[motion_velocity_smoother-26] v[21]: 8.35221
[motion_velocity_smoother-26] v[22]: 7.97319
[motion_velocity_smoother-26] v[23]: 7.45419
[motion_velocity_smoother-26] v[24]: 6.89617
[motion_velocity_smoother-26] v[25]: 6.28872
[motion_velocity_smoother-26] v[26]: 5.61575
[motion_velocity_smoother-26] v[27]: 4.84995
[motion_velocity_smoother-26] v[28]: 3.93714
[motion_velocity_smoother-26] v[29]: 2.73211
[motion_velocity_smoother-26] v[30]: 0.100003

• After the PR

[motion_velocity_smoother-26] v[0]: 0.25
[motion_velocity_smoother-26] v[1]: 0.287228
[motion_velocity_smoother-26] v[2]: 0.40908
[motion_velocity_smoother-26] v[3]: 0.544224
[motion_velocity_smoother-26] v[4]: 0.676197
[motion_velocity_smoother-26] v[5]: 0.802664
[motion_velocity_smoother-26] v[6]: 0.918984
[motion_velocity_smoother-26] v[7]: 1.02216
[motion_velocity_smoother-26] v[8]: 1.11583
[motion_velocity_smoother-26] v[9]: 1.20222
[motion_velocity_smoother-26] v[10]: 1.28282
[motion_velocity_smoother-26] v[11]: 3.13056
[motion_velocity_smoother-26] v[12]: 4.2314
[motion_velocity_smoother-26] v[13]: 5.09713
[motion_velocity_smoother-26] v[14]: 5.83413
[motion_velocity_smoother-26] v[15]: 6.48679
[motion_velocity_smoother-26] v[16]: 7.07868
[motion_velocity_smoother-26] v[17]: 7.62409
[motion_velocity_smoother-26] v[18]: 8.13246
[motion_velocity_smoother-26] v[19]: 8.61061
[motion_velocity_smoother-26] v[20]: 9.06354
[motion_velocity_smoother-26] v[21]: 9.49486
[motion_velocity_smoother-26] v[22]: 9.9074
[motion_velocity_smoother-26] v[23]: 10.2131
[motion_velocity_smoother-26] v[24]: 10.3581
[motion_velocity_smoother-26] v[25]: 10.3547
[motion_velocity_smoother-26] v[26]: 10.2056
[motion_velocity_smoother-26] v[27]: 9.90129
[motion_velocity_smoother-26] v[28]: 9.48848
[motion_velocity_smoother-26] v[29]: 9.05686
[motion_velocity_smoother-26] v[30]: 8.60358
[motion_velocity_smoother-26] v[31]: 8.12501
[motion_velocity_smoother-26] v[32]: 7.61639
[motion_velocity_smoother-26] v[33]: 7.0712
[motion_velocity_smoother-26] v[34]: 6.48021
[motion_velocity_smoother-26] v[35]: 5.82946
[motion_velocity_smoother-26] v[36]: 5.09599
[motion_velocity_smoother-26] v[37]: 4.23681
[motion_velocity_smoother-26] v[38]: 3.14974
[motion_velocity_smoother-26] v[39]: 1.37441
[motion_velocity_smoother-26] v[40]: 0.00158448

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (f9075cb) 12.81% compared to head (9b74762) 12.81%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #2989   +/-   ##
=======================================
  Coverage   12.81%   12.81%           
=======================================
  Files        1212     1212           
  Lines       85613    85613           
  Branches    24260    24259    -1     
=======================================
  Hits        10968    10968           
  Misses      63282    63282           
  Partials    11363    11363           

Flag	Coverage Δ		*Carryforward flag
differential	3.34% <0.00%> (?)
total	12.81% <ø> (+<0.01%)	⬆️	Carriedforward from f9075cb

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

Impacted Files	Coverage Δ
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <ø> (ø)
...th_planner/scene_module/scene_module_interface.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.15% <ø> (ø)
...y_smoother/src/smoother/jerk_filtered_smoother.cpp	0.00% <0.00%> (ø)

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