refactor(obstacle_cruise_planner): clean up a part of the code

[takayuki5168]

Description

This PR includes

• Define Obstacle struct again so that the pointcloud can be converted to this struct.

  • Soon obstacle_cruise_planner will support the pointcloud input. Current Obstacle (TargetObstacle) struct strongly depends on the algorithm rather than just the abstraction of the input.
  • I split TargetObstacle to
    • Obstacle struct which is the abstraction of the input for objects and pointcloud
    • Stop/Cruise/SlowDown Obstacle struct which is obstacle data for each algorithm.

• Refactor obstacle filtering method

• Rename some parameters

  • e.g. current_pose -> ego_pose

• use std::optional instead of boost::optional

• Implement slow down function which is currently empty.

  • I will create another PR for slow down implementation.

• TODO

  • plot juggler
  • scenario test
    • baseline: 1198/1120
      • https://evaluation.tier4.jp/evaluation/reports/954b5d7f-c337-5ed2-a851-81ae124a6f0a?project_id=prd_jt
    • with this PR: 1197/1120
      • https://evaluation.tier4.jp/evaluation/reports/e17924fc-0d71-57a4-be96-a2369ca3e79a?project_id=prd_jt
    • For TIER IV members: 1 additional fail is due to lane change module. This PR does not affect daily common scenarios since it does not use obstacle_cruise_planner.
  • check the case when the vehicle crosses the ego trajectory with high speed.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-3006/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-3006/planning/obstacle_cruise_planner/
• https://autowarefoundation.github.io/autoware.universe/pr-3006/planning/obstacle_cruise_planner/debug/

[codecov]

Codecov Report

Patch coverage: 9.97% and project coverage change: -0.01 ⚠️

Comparison is base (6e3dbac) 12.40% compared to head (c7de0bb) 12.39%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3006      +/-   ##
==========================================
- Coverage   12.40%   12.39%   -0.01%     
==========================================
  Files        1369     1369              
  Lines       96209    96222      +13     
  Branches    27729    27719      -10     
==========================================
- Hits        11931    11924       -7     
- Misses      71612    71671      +59     
+ Partials    12666    12627      -39     

Flag	Coverage Δ		*Carryforward flag
differential	8.75% <9.97%> (?)
total	12.40% <ø> (+<0.01%)	⬆️	Carriedforward from 6e3dbac

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

Impacted Files	Coverage Δ
...e_planner/include/obstacle_cruise_planner/node.hpp	∅ <ø> (∅)
...se_planner/pid_based_planner/pid_based_planner.hpp	22.22% <ø> (ø)
...ruise_planner/pid_based_planner/pid_controller.hpp	0.00% <0.00%> (ø)
..._planner/include/obstacle_cruise_planner/utils.hpp	0.00% <0.00%> (ø)
...ation_based_planner/optimization_based_planner.cpp	0.00% <0.00%> (ø)
...include/obstacle_cruise_planner/common_structs.hpp	10.52% <6.25%> (-0.39%)	⬇️
.../obstacle_cruise_planner/src/planner_interface.cpp	8.40% <6.89%> (+0.07%)	⬆️
planning/obstacle_cruise_planner/src/utils.cpp	5.40% <8.00%> (+1.32%)	⬆️
planning/obstacle_cruise_planner/src/node.cpp	15.38% <10.68%> (-2.11%)	⬇️
...lanner/src/pid_based_planner/pid_based_planner.cpp	7.26% <14.92%> (+0.35%)	⬆️
... and 2 more

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[purewater0901]

LGTM