fix(avoidance): get nearest target object

[satoshi-ota]

Description

Fix bug in searching nearest target object that satisfies following two conditions:

1. should be avoid (otherwise, vehicle will collide with it.)
2. is avoidable (there is enough space to avoid.)

Before this PR, the stop_target_object is overwitten unintentionally by bihind object since the loop never breaks.

  for (const auto & o : data.target_objects) {
    if (o.avoid_required && o.is_avoidable) {
      data.avoid_required = true;
      data.stop_target_object = o;
      break; // ADD THIS LINE
    }
  }

NOTE: target_objects is sorted by object.longitudinal, so target_objects.front() is the nearest object in target_objects.

Related links

Tests performed

Before this PR.

Since only one object is detected, the stop point is inserted in front of the object.

At the moment of detection behind object, the stop point moves to in front of the behind object. It is an unexpected behavior.

After this PR.

The stop point never changes even if the behind object is detected.

• https://user-images.githubusercontent.com/44889564/227147366-b9c04bdd-3d7e-471d-8f90-98289aea05e8.mp4

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[codecov]

Codecov Report

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

Comparison is base (9a0a29d) 12.32% compared to head (fea016c) 12.31%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3155      +/-   ##
==========================================
- Coverage   12.32%   12.31%   -0.01%     
==========================================
  Files        1340     1340              
  Lines       93405    93396       -9     
  Branches    26751    26745       -6     
==========================================
- Hits        11509    11506       -3     
+ Misses      69744    69738       -6     
  Partials    12152    12152              

Flag	Coverage Δ		*Carryforward flag
differential	5.51% <ø> (?)
total	12.31% <ø> (-0.01%)	⬇️	Carriedforward from 731816b

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

Impacted Files	Coverage Δ
...luator/diagnostic_converter/src/converter_node.cpp	60.00% <ø> (+0.62%)	⬆️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <ø> (ø)

... and 4 files with indirect coverage changes

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[TakaHoribe]

LGTM