perf(obstacle_avoidance_planner): smaller calculation time

[takayuki5168]

Description

• Decreased default debug markers to publish
  • Circles visualization is a bit heavy.
  • Extra debug markers can be published by changing a flag.
• Effective multiple nearest index search in the for loop with calcSegmentLengthVector.
• Modify the script to plot the calculation time of functions which is or may be heavy.

Evaluation with sample map

without the PR

with the PR
replan every 1 second (default)

FYI: replan every cycle

Evaluation with odaiba map

without the PR

with the PR
replan every 1 second (default)

FYI: replan every cycle

Tests performed

• planning simulator
• scenario simulator
  • https://evaluation.tier4.jp/evaluation/reports/31286aea-7053-5fd1-82db-08e9fc4a65f0?project_id=prd_jt

Effects on system behavior

Nothing

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[codecov]

Codecov Report

Patch coverage: 37.50% and project coverage change: +0.02% 🎉

Comparison is base (7f02d6a) 14.82% compared to head (b48f980) 14.85%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4608      +/-   ##
==========================================
+ Coverage   14.82%   14.85%   +0.02%     
==========================================
  Files        1529     1529              
  Lines      105811   105846      +35     
  Branches    32243    32264      +21     
==========================================
+ Hits        15690    15721      +31     
+ Misses      72965    72961       -4     
- Partials    17156    17164       +8     

Flag	Coverage Δ		*Carryforward flag
differential	37.51% <37.50%> (?)
total	14.82% <ø> (+<0.01%)	⬆️	Carriedforward from 7f02d6a

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

Files Changed	Coverage Δ
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	85.71% <ø> (ø)
...lanner/include/obstacle_avoidance_planner/node.hpp	40.00% <ø> (ø)
...ng/obstacle_avoidance_planner/src/debug_marker.cpp	40.11% <0.00%> (-0.80%)	⬇️
planning/obstacle_avoidance_planner/src/node.cpp	41.60% <47.05%> (+3.62%)	⬆️
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	40.11% <55.55%> (+0.19%)	⬆️

... and 1 file with indirect coverage changes

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