feat(goal_planner): add bezier based pull over planner

[soblin]

Description

ros2 run autoware_behavior_path_goal_planner plot_map{1, 2} gives following figures.

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Parent Issue:

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How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[maxime-clem]

Change to the autoware_bezier_sampler look good.

[maxime-clem]

Everything can be made const here.

Suggested change

	double distance_initial_to_final = std::sqrt(
	(initial.pose.x() - final.pose.x()) * (initial.pose.x() - final.pose.x()) +
	(initial.pose.y() - final.pose.y()) * (initial.pose.y() - final.pose.y()));
	// Tangent vectors
	const Eigen::Vector2d initial_tangent_unit(std::cos(initial.heading), std::sin(initial.heading));
	const Eigen::Vector2d final_tangent_unit(std::cos(final.heading), std::sin(final.heading));
	// Unit vectors
	const Eigen::Vector2d initial_normal_unit = initial_tangent_unit.unitOrthogonal();
	const Eigen::Vector2d final_normal_unit = final_tangent_unit.unitOrthogonal();
	double initial_tangent_length = initial_velocity * distance_initial_to_final;
	double final_tangent_length = final_velocity * distance_initial_to_final;
	double acceleration_length = acceleration * distance_initial_to_final;
	const double distance_initial_to_final = std::sqrt(
	(initial.pose.x() - final.pose.x()) * (initial.pose.x() - final.pose.x()) +
	(initial.pose.y() - final.pose.y()) * (initial.pose.y() - final.pose.y()));
	// Tangent vectors
	const Eigen::Vector2d initial_tangent_unit(std::cos(initial.heading), std::sin(initial.heading));
	const Eigen::Vector2d final_tangent_unit(std::cos(final.heading), std::sin(final.heading));
	// Unit vectors
	const Eigen::Vector2d initial_normal_unit = initial_tangent_unit.unitOrthogonal();
	const Eigen::Vector2d final_normal_unit = final_tangent_unit.unitOrthogonal();
	const double initial_tangent_length = initial_velocity * distance_initial_to_final;
	const double final_tangent_length = final_velocity * distance_initial_to_final;
	const double acceleration_length = acceleration * distance_initial_to_final;

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 199 lines in your changes missing coverage. Please review.

Project coverage is 29.84%. Comparing base (9ff1c38) to head (21346a5).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
..._module/src/pull_over_planner/bezier_pull_over.cpp	0.00%	186 Missing ⚠️
...er/autoware_bezier_sampler/src/bezier_sampling.cpp	0.00%	12 Missing ⚠️
...nner_module/pull_over_planner/bezier_pull_over.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9642      +/-   ##
==========================================
- Coverage   29.90%   29.84%   -0.06%     
==========================================
  Files        1441     1448       +7     
  Lines      108349   108575     +226     
  Branches    42492    42584      +92     
==========================================
+ Hits        32403    32407       +4     
- Misses      72763    72977     +214     
- Partials     3183     3191       +8     

Flag	Coverage Δ		*Carryforward flag
differential	32.40% <0.00%> (?)
total	29.96% <ø> (+0.05%)	⬆️	Carriedforward from 9ff1c38

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

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