refactor(start_planner): add rss safety check function

[kyoichi-sugahara]

Description

refactoring checkSafetyWithRSS

Tests performed

• PASS TIERIV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[kosuke55]

If the function is completely the same, I want to move to common.

[codecov]

Codecov Report

Attention: 2212 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (983184b) 15.36%.
Report is 112 commits behind head on main.

Files	Patch %	Lines
...s/drivable_area_expansion/static_drivable_area.cpp	13.19%	597 Missing and 87 partials ⚠️
...anner/src/utils/avoidance/shift_line_generator.cpp	13.28%	431 Missing and 65 partials ⚠️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	3.90%	187 Missing and 10 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	0.60%	161 Missing and 2 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	10.56%	110 Missing and 17 partials ⚠️
...ner/src/utils/path_safety_checker/safety_check.cpp	0.00%	100 Missing ⚠️
..._path_planner/src/marker_utils/avoidance/debug.cpp	0.00%	61 Missing ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	1.69%	58 Missing ⚠️
...cene_module/start_planner/start_planner_module.cpp	8.47%	54 Missing ⚠️
planning/behavior_path_planner/src/utils/utils.cpp	35.89%	31 Missing and 19 partials ⚠️
... and 22 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5623      +/-   ##
==========================================
+ Coverage   15.32%   15.36%   +0.03%     
==========================================
  Files        1721     1725       +4     
  Lines      118559   118540      -19     
  Branches    37995    38073      +78     
==========================================
+ Hits        18169    18209      +40     
+ Misses      79657    79559      -98     
- Partials    20733    20772      +39     

Flag	Coverage Δ		*Carryforward flag
differential	12.73% <12.04%> (?)
total	15.41% <28.57%> (+0.09%)	⬆️	Carriedforward from a2ba80e

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

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[kyoichi-sugahara]

@kosuke55

If the function is completely the same, I want to move to common.

I agree with that.
Is it ok to move to start_goal_planner_common?

[kosuke55]

@kyoichi-sugahara sorry for the delay.

Is it ok to move to start_goal_planner_common?

yes ok!

[kyoichi-sugahara]

@kosuke55
The function is able to be moved to common without any issues, so I've moved it to common!
I'll check the evaluator result.

[kosuke55]

LGTM

[kyoichi-sugahara]

no degression so will merge