fix(obstacle_avoidance_planner): fix drivable area checker

[purewater0901]

Description

Currently, the obstacle avoidance planner checks if the footprint of the vehicle is outside of the drivable area by lateral distance from the left and right boundary. However, this method does not work well when the boundary is not straight. In this PR, I use the polygon instead of the line to check if the footprint is outside of the drivable area.

For example, in the following scene, the trajectory point will be judged outside of the drivable area even though it is inside of it. This is because it uses the line created by point0 and point1, so the trajectory point is judged to be located right side of the line.

Related links

Inernal Test Result 821/825

Tests performed

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[takayuki5168]

LGTM

[codecov]

Codecov Report

Base: 11.39% // Head: 12.18% // Increases project coverage by +0.79% 🎉

Coverage data is based on head (68a4f59) compared to base (33ecdb5).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2639      +/-   ##
==========================================
+ Coverage   11.39%   12.18%   +0.79%     
==========================================
  Files        1279     1179     -100     
  Lines       89170    83565    -5605     
  Branches    23587    23676      +89     
==========================================
+ Hits        10161    10185      +24     
+ Misses      68239    62597    -5642     
- Partials    10770    10783      +13     

Flag	Coverage Δ		*Carryforward flag
differential	17.58% <0.00%> (?)
total	12.18% <0.00%> (+0.78%)	⬆️	Carriedforward from 33ecdb5

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

Impacted Files	Coverage Δ
...include/obstacle_avoidance_planner/utils/utils.hpp	36.47% <ø> (ø)
...ing/obstacle_avoidance_planner/src/utils/utils.cpp	12.55% <0.00%> (+1.56%)	⬆️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	85.71% <0.00%> (-2.39%)	⬇️
...erception/traffic_light_classifier/src/nodelet.cpp	0.00% <0.00%> (ø)
...rt_yolox/src/yolox_single_image_inference_node.cpp
...ec_vendor/_deps/tensorrt-src/samples/common/half.h
perception/tensorrt_yolo/src/nodelet.cpp
..._vendor/_deps/tensorrt-src/samples/common/common.h
...enterpoint/postprocess/non_maximum_suppression.hpp
...on/lidar_centerpoint/lib/network/scatter_kernel.cu
... and 95 more

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