feat(obstacle_avoidance_planner): add options for plan_from_ego

[kosuke55]

Description

• add plan_from_ego and max_plan_from_ego_length params
  • disabled defaultly
• plan_from_ego is enabled when
  • trajectory length is shorter than max_plan_from_ego_length
  • stopped
• remove adjustment of error_weight_ratio when plan_from_ego
  • constexpr double obstacle_avoid_error_weight_ratio = 1 / 100.0;

Related links

launch : tier4/autoware_launch#371

Tests performed

Checked that plan_from_ego is enabled when following conditions are true with psim

• trajectory length is shorter than max_plan_from_ego_length
• stopped

(defaultly disabled but if enabled)
These are TIER IV internal test results but I share them for your information.
both branches are based on v0.31

• disabled
  • https://evaluation.tier4.jp/evaluation/reports/f5f855d1-5383-5c53-b3e3-f8ac5d6f225b?project_id=prd_jt
  • 260/292 passed
• enabled
  • https://evaluation.tier4.jp/evaluation/reports/dbebb836-d5f4-597c-887c-ac155495afac?project_id=prd_jt
  • 262/292 passed

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[kosuke55]

send PR for launch tier4/autoware_launch#371

[codecov]

Codecov Report

Merging #1191 (8a03c11) into main (6831afa) will decrease coverage by 0.07%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1191      +/-   ##
========================================
- Coverage   9.58%   9.51%   -0.08%     
========================================
  Files       1042    1042              
  Lines      71837   72416     +579     
  Branches   15590   15590              
========================================
  Hits        6889    6889              
- Misses     58978   59557     +579     
  Partials    5970    5970              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.57% <0.00%> (ø)		Carriedforward from 0c3e240

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

Impacted Files	Coverage Δ
...lude/obstacle_avoidance_planner/common_structs.hpp	0.00% <ø> (ø)
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	0.00% <0.00%> (ø)
planning/obstacle_avoidance_planner/src/node.cpp	0.00% <0.00%> (ø)

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[takayuki5168]

LGTM