feat(obstacle_cruise_planner)!: add ego pose consideration

[yuki-takagi-66]

Description

We expand the polygon generation functions to consider the current ego pose, while the current implementation only consider the reference path's poses.
Both the lateral error and the yaw error are assumed to decrease to zero by a specified constant time (e.g 1.5 second).

Related links

related discussion
https://github.com/orgs/autowarefoundation/discussions/2859

Tests performed

The all of Polygon generations, obstacle labeling and velocity planning are works well in Psim.
Screencast from 09-13-2023 07:00:00 PM.webm

The new parameter enable_to_consider_current_pose is also works well.

For the case of this feature disabled, no behavior changes were observed by the tier4 internal tests.

Notes for reviewers

The function CreateOneStepPolygons() was move from the namespace polygon_utils to ObstacleCruisePlannerNode.
This is because CreateOneStepPolygons() require module parameters but does not include polygon operations.

Interface changes

We add two parameters for the obstacle cruise planner module.
These parameters are implemented in planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml as

consider_current_pose:
        enable_to_consider_current_pose: false
        time_to_convergence: 1.5 #[s]

Effects on system behavior

We expected that there is no system behavior changes, because the new feature is disabled by the own parameter.

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[codecov]

Codecov Report

Patch coverage: 30.23% and project coverage change: -0.24% ⚠️

Comparison is base (08c809c) 15.81% compared to head (872ce6f) 15.58%.
Report is 6 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5036      +/-   ##
==========================================
- Coverage   15.81%   15.58%   -0.24%     
==========================================
  Files        1581     1587       +6     
  Lines      109933   109785     -148     
  Branches    34436    34055     -381     
==========================================
- Hits        17391    17111     -280     
- Misses      73406    73811     +405     
+ Partials    19136    18863     -273     

Flag	Coverage Δ		*Carryforward flag
differential	8.16% <30.23%> (?)
total	15.58% <ø> (-0.24%)	⬇️	Carriedforward from 9a24fe8

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

Files Changed	Coverage Δ
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp	67.37% <ø> (+0.24%)	⬆️
...ontrol/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp	25.00% <ø> (ø)
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	24.73% <ø> (ø)
.../test/src/test_filter_in_vehicle_cmd_gate_node.cpp	60.81% <ø> (ø)
...icle_cmd_gate/test/src/test_vehicle_cmd_filter.cpp	37.69% <ø> (-0.13%)	⬇️
...planner/src/scene_module/start_planner/manager.cpp	4.82% <ø> (ø)
...cene_module/start_planner/start_planner_module.cpp	29.53% <ø> (-0.12%)	⬇️
...e_planner/include/obstacle_cruise_planner/node.hpp	10.52% <ø> (-0.59%)	⬇️
...atenate_data/concatenate_and_time_sync_nodelet.cpp	0.00% <ø> (ø)
planning/obstacle_cruise_planner/src/node.cpp	12.37% <16.12%> (+0.23%)	⬆️
... and 1 more

... and 60 files with indirect coverage changes

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[satoshi-ota]

LGTM