feat(goal_planner): use expanded pull over lanes for filtering in goal searcher

[kosuke55]

Description

related to #6124

• make utils for fitltering objects
• use expanded pull over lanes for filtering in goal searche

Tests performed

evaluator_description: feat/expanded_pull_over_lanes_searcher
2024/01/22 https://evaluation.tier4.jp/evaluation/reports/0f47f61d-aa59-587b-829b-f25e65d41095/?project_id=prd_jt

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 18 lines in your changes are missing coverage. Please review.

Comparison is base (b5203a2) 15.16% compared to head (107b4fa) 15.16%.
Report is 2 commits behind head on main.

Files	Patch %	Lines
...ing/behavior_path_goal_planner_module/src/util.cpp	0.00%	13 Missing ⚠️
...ior_path_goal_planner_module/src/goal_searcher.cpp	0.00%	3 Missing ⚠️
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6142      +/-   ##
==========================================
- Coverage   15.16%   15.16%   -0.01%     
==========================================
  Files        1770     1770              
  Lines      122677   122685       +8     
  Branches    37299    37299              
==========================================
  Hits        18601    18601              
- Misses      83157    83165       +8     
  Partials    20919    20919              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.16% <ø> (+<0.01%)	⬆️	Carriedforward from b5203a2

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[kyoichi-sugahara]

LGTM!