fix(goal_planner): change debug polygons to contain the nominal margin

[yuki-takagi-66]

Description

The polygons that are visualized were made identical to the polygons which the collision determination is actually performed.
In addition, a function with many arguments was removed.

Tests performed

psim test was perfomed.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 23 lines in your changes are missing coverage. Please review.

Comparison is base (69813cb) 14.76% compared to head (d73ddd0) 14.77%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5365   +/-   ##
=======================================
  Coverage   14.76%   14.77%           
=======================================
  Files        1662     1662           
  Lines      115457   115374   -83     
  Branches    35639    35591   -48     
=======================================
- Hits        17047    17043    -4     
+ Misses      79181    79110   -71     
+ Partials    19229    19221    -8     

Flag	Coverage Δ		*Carryforward flag
differential	12.30% <0.00%> (?)
total	14.77% <ø> (+0.01%)	⬆️	Carriedforward from 0f5ea96

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

Files	Coverage Δ
...ner/src/utils/path_safety_checker/safety_check.cpp	22.43% <0.00%> (+2.20%)	⬆️
.../scene_module/goal_planner/goal_planner_module.cpp	5.10% <0.00%> (-0.09%)	⬇️

... and 10 files with indirect coverage changes

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[kosuke55]

thanks!! LGTM