feat(behavior_path_planner): update filter objects by velocity

[kyoichi-sugahara]

Description

🤖 Generated by Copilot at eeba145

Modified the filterObjects and filterObjectsByVelocity functions in objects_filtering.cpp and objects_filtering.hpp to improve the path safety checker's handling of static or slow-moving objects. Added a new parameter filter_dynamic_objects to control the filtering mode based on the object velocity.

filter objects by velocity and if you give arg of filter_dynamic_objects as false, object's velocity smaller than lim_v will be filtered.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (be626b7) 15.10% compared to head (8603cf8) 15.11%.
Report is 14 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff            @@
##             main    #4742     +/-   ##
=========================================
  Coverage   15.10%   15.11%             
=========================================
  Files        1563     1563             
  Lines      107889   108893   +1004     
  Branches    33101    33868    +767     
=========================================
+ Hits        16302    16463    +161     
- Misses      73819    74530    +711     
- Partials    17768    17900    +132     

Flag	Coverage Δ		*Carryforward flag
differential	13.15% <0.00%> (?)
total	15.11% <ø> (+<0.01%)	⬆️	Carriedforward from eeba145

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Files Changed	Coverage Δ
...rc/utils/path_safety_checker/objects_filtering.cpp	0.00% <0.00%> (ø)

... and 5 files with indirect coverage changes

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[kosuke55]

dynamic_objects means objects whose velocity is larger than lim_v

[kosuke55]

a little unclear

[kyoichi-sugahara]

@kosuke55
I agree.

a little unclear

How about this?

/**
 * @brief Filters objects based on their velocity.
 *
 * Depending on the remove_above_threshold parameter, this function either removes objects with
 * velocities above the given threshold or only keeps those objects. It uses the helper function
 * filterObjectsByVelocity() to do the actual filtering.
 *
 * @param objects The objects to be filtered.
 * @param velocity_threshold The velocity threshold for the filtering.
 * @param remove_above_threshold If true, objects with velocities above the threshold are removed.
 *                               If false, only objects with velocities above the threshold are kept.
 * @return A new collection of objects that have been filtered according to the rules.
 */
PredictedObjects filterObjectsByVelocity(
  const PredictedObjects & objects, const double velocity_threshold,
  const bool remove_above_threshold)

[kosuke55]

nice! thanks!!