refactor(behavior_path_planner): separate drivable area functions

[zulfaqar-azmi-t4]

Description

Caution: Although this is not breaking changes, it still will create a lot of conflict for the present PR or during creation of experimental branch.

Previously, drivable area expansion algorithm was written in the utils/utils.hpp.
With the new dynamic drivable area expansion feature added in the behavior path planner module, there is a necessity to separate the algorithm from utils.hpp into another file to prevent confusion when debugging drivable area related functions.

Related links

None

Tests performed

Compile success

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[satoshi-ota]

LGTM!

[codecov]

Codecov Report

Attention: 975 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (5820532) 15.31%.
Report is 30 commits behind head on main.

Files	Patch %	Lines
...s/drivable_area_expansion/static_drivable_area.cpp	11.54%	623 Missing and 74 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	1.72%	113 Missing and 1 partial ⚠️
planning/behavior_path_planner/src/utils/utils.cpp	35.89%	31 Missing and 19 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00%	34 Missing and 2 partials ⚠️
...ing/behavior_path_planner/src/utils/path_utils.cpp	42.30%	0 Missing and 30 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	15.78%	15 Missing and 1 partial ⚠️
...th_planner/src/scene_module/lane_change/normal.cpp	0.00%	13 Missing ⚠️
...e/behavior_path_planner/utils/avoidance/helper.hpp	0.00%	4 Missing ⚠️
...ath_planner/src/scene_module/avoidance/manager.cpp	0.00%	0 Missing and 4 partials ⚠️
...cene_module/start_planner/start_planner_module.cpp	0.00%	3 Missing ⚠️
... and 4 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5604      +/-   ##
==========================================
- Coverage   15.32%   15.31%   -0.01%     
==========================================
  Files        1721     1722       +1     
  Lines      118559   118866     +307     
  Branches    37995    38267     +272     
==========================================
+ Hits        18169    18205      +36     
- Misses      79657    79889     +232     
- Partials    20733    20772      +39     

Flag	Coverage Δ		*Carryforward flag
differential	12.64% <13.41%> (?)
total	15.35% <40.00%> (+0.02%)	⬆️	Carriedforward from 017aed4

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

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[satoshi-ota]

@kosuke55 How about is your review from goal planner side...?

[kosuke55]

looks good!! thanks