refactor(lane_change): move for lane change module to interface

[zulfaqar-azmi-t4]

Description

This pull request refactors the lane change module of the behavior path planner to use behavior trees instead of the previous implementation. The PR moves bt_normal's content to normal and a introduces new class LaneChangeBTModule that inherits from the LaneChangeInterface and holds a normal lane change behavior tree object. It also improves the maintainability and style of some of the existing classes and removes some unnecessary header file inclusions and files.

Related links

None.

Tests performed

1. Build with COMPILE_WITH_OLD_ARCHITECTURE=FALSE
2. Build with COMPILE_WITH_OLD_ARCHITECTURE=TRUE
3. Test lane change scenario with planning simulator
4. Test with CI TIER IV internal link → need to re-confirm due to conflict fix

Notes for reviewers

1. The lane_change_module.cpp will be removed.
2. Lane change module's class that uses behavior tree is renamed from LaneChangeModule to LaneChangeBTModule, the actual name of the bt leave will remain LaneChangeModule.

Interface changes

None

Effects on system behavior

None

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage: 17.14% and no project coverage change.

Comparison is base (70c3ee4) 14.96% compared to head (274abd0) 14.96%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3536   +/-   ##
=======================================
  Coverage   14.96%   14.96%           
=======================================
  Files        1300     1300           
  Lines       92131    92186   +55     
  Branches    29099    29127   +28     
=======================================
+ Hits        13787    13798   +11     
- Misses      63670    63715   +45     
+ Partials    14674    14673    -1     

Flag	Coverage Δ		*Carryforward flag
differential	15.38% <17.14%> (?)
total	14.96% <ø> (+<0.01%)	⬆️	Carriedforward from 70c3ee4

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

Impacted Files	Coverage Δ
...th_planner/scene_module/lane_change/base_class.hpp	11.36% <0.00%> (ø)
...nner/scene_module/lane_change/external_request.hpp	50.00% <ø> (ø)
...ath_planner/scene_module/lane_change/interface.hpp	9.09% <0.00%> (-24.25%)	⬇️
...th_planner/scene_module/scene_module_interface.hpp	34.10% <0.00%> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	19.92% <ø> (+0.13%)	⬆️
...avior_path_planner/src/utils/lane_change/utils.cpp	0.69% <0.00%> (-0.01%)	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	16.42% <ø> (+0.04%)	⬆️
...th_planner/src/scene_module/lane_change/normal.cpp	7.03% <13.04%> (+1.04%)	⬆️
...planner/src/scene_module/lane_change/interface.cpp	17.20% <60.00%> (+1.01%)	⬆️
... and 2 more

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

[zulfaqar-azmi-t4]

Additional degradation check
TIER IV internal link: 1326/1330. Lane Change all pass