feat(behavior_velocity_planner): use grid_map_utils::PolygonIterator

[maxime-clem]

Signed-off-by: Maxime CLEMENT [email protected]

Description

Switch to the faster grid_map_utils::PolygonIterator (added in #943) in the occlusion spot module of the behavior_velocity_planner.

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[codecov]

Codecov Report

Merging #1018 (6bcab45) into main (47eda5f) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1018      +/-   ##
========================================
- Coverage   9.52%   9.49%   -0.03%     
========================================
  Files        953     970      +17     
  Lines      59289   65463    +6174     
  Branches   10793   11705     +912     
========================================
+ Hits        5647    6218     +571     
- Misses     48724   54046    +5322     
- Partials    4918    5199     +281     

Flag	Coverage Δ		*Carryforward flag
differential	5.10% <0.00%> (?)
total	9.63% <0.00%> (+0.11%)	⬆️	Carriedforward from bf88d08

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

Impacted Files	Coverage Δ
...include/scene_module/occlusion_spot/grid_utils.hpp	0.00% <ø> (ø)
...ity_planner/include/scene_module/run_out/debug.hpp	0.00% <0.00%> (ø)
.../include/scene_module/run_out/dynamic_obstacle.hpp	0.00% <0.00%> (ø)
...y_planner/include/scene_module/run_out/manager.hpp	0.00% <0.00%> (ø)
...lanner/include/scene_module/run_out/path_utils.hpp	0.00% <0.00%> (ø)
...ity_planner/include/scene_module/run_out/utils.hpp	0.00% <0.00%> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.66% <0.00%> (+0.66%)	⬆️
...ner/src/scene_module/occlusion_spot/grid_utils.cpp	0.00% <0.00%> (ø)
...elocity_planner/src/scene_module/run_out/debug.cpp	0.00% <0.00%> (ø)
...nner/src/scene_module/run_out/dynamic_obstacle.cpp	0.00% <0.00%> (ø)
... and 634 more

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[taikitanaka3]

It is faster when comparing with previous polygon iterator using scenario sim LGTM
total time is total processing time for occlusion spot
before

after

same condition and same scenario test