feat(behavior_path_planner): use common function of createPredictedPath from avoidance module

[kyoichi-sugahara]

Description

🤖 Generated by Copilot at c116f1a

Refactored convertToPredictedPath function to use a common utility and added a new parameter to handle different velocity scenarios. Updated the function call in avoidance_module.cpp to pass the new parameter.

This PR shuold be merged first.

Tests performed

• PASS TIERIV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch coverage: 44.44% and no project coverage change.

Comparison is base (ea9d4b0) 15.74% compared to head (c116f1a) 15.75%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5015   +/-   ##
=======================================
  Coverage   15.74%   15.75%           
=======================================
  Files        1587     1587           
  Lines      109831   109843   +12     
  Branches    33719    33722    +3     
=======================================
+ Hits        17292    17303   +11     
+ Misses      73908    73907    -1     
- Partials    18631    18633    +2     

Flag	Coverage Δ		*Carryforward flag
differential	17.85% <44.44%> (?)
total	15.73% <ø> (-0.01%)	⬇️	Carriedforward from 67eae01

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

Files Changed	Coverage Δ
..._safety_checker/path_safety_checker_parameters.hpp	50.00% <ø> (+16.66%)	⬆️
.../scene_module/goal_planner/goal_planner_module.cpp	8.49% <0.00%> (ø)
..._planner/src/scene_module/goal_planner/manager.cpp	5.51% <0.00%> (-0.05%)	⬇️
...planner/src/scene_module/start_planner/manager.cpp	4.82% <0.00%> (-0.05%)	⬇️
...cene_module/start_planner/start_planner_module.cpp	29.86% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	11.69% <50.00%> (ø)
...ehavior_path_planner/src/utils/avoidance/utils.cpp	10.83% <90.00%> (+0.83%)	⬆️
...rc/utils/path_safety_checker/objects_filtering.cpp	25.33% <100.00%> (+1.68%)	⬆️
...nner/src/utils/start_goal_planner_common/utils.cpp	53.03% <100.00%> (ø)

... and 1 file with indirect coverage changes

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[satoshi-ota]

LGTM!