refactor(avoidance_by_lane_change): reuse lane change class

[zulfaqar-azmi-t4]

Description

Currently, avoidance_by_lane_change module has similar implementation to lane change module, with exceptions of path generation functions.

The PR aims to unify avoidance_by_lane_change to lane change module.
The PR moves scene_module/avoidance_by_lc/* content to scene_module/lane_change/avoidance_by_lane_change and a introduces new class AvoidanceByLaneChangeInterface that inherits from the LaneChangeInterface, with overriden updateRTCStatus. It also improves the maintainability and style of some of the existing classes.

Related links

None

Tests performed

1. Build with COMPILE_WITH_OLD_ARCHITECTURE=TRUE
2. Build with COMPILE_WITH_OLD_ARCHITECTURE=FALSE
3. Scenario test with old architecture TIER IV internal link - No degradation
4. Scenario test with new architecture TIER IV internal link - Degradation at Avoidance, but AbLC is not enabled, therefore no degradation assumed
5. Test with planning simulator

Notes for reviewers

1. avoidance_by_lc module folder is removed.
2. duplicated getLaneChangePaths in utils::lane_change is removed.
3. due to the confusion of parameter naming, parameters_ is changed to lane_change_parameters_

avoidance_by_lane_change-.2023-05-01-11-53-39.mp4

avoidance_by_lane_change-.2023-05-01-11-54-17.mp4

Interface changes

None

Effects on system behavior

None

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

[codecov]

Codecov Report

Patch coverage: 1.25% and project coverage change: +0.01 🎉

Comparison is base (b173491) 13.72% compared to head (a4ce35f) 13.74%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3577      +/-   ##
==========================================
+ Coverage   13.72%   13.74%   +0.01%     
==========================================
  Files        1397     1398       +1     
  Lines       98263    98130     -133     
  Branches    29238    29158      -80     
==========================================
+ Hits        13490    13491       +1     
+ Misses      70233    70096     -137     
- Partials    14540    14543       +3     

Flag	Coverage Δ		*Carryforward flag
differential	12.89% <1.25%> (?)
total	13.76% <ø> (+0.04%)	⬆️	Carriedforward from b173491

*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	10.86% <0.00%> (-0.50%)	⬇️
...ath_planner/scene_module/lane_change/interface.hpp	33.33% <ø> (+24.24%)	⬆️
...r_path_planner/scene_module/lane_change/normal.hpp	100.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	20.02% <0.00%> (-0.06%)	⬇️
...lanner/src/scene_module/avoidance_by_lc/module.cpp	0.00% <ø> (ø)
...ne_module/lane_change/avoidance_by_lane_change.cpp	0.00% <0.00%> (ø)
...planner/src/scene_module/lane_change/interface.cpp	14.45% <0.00%> (-2.76%)	⬇️
...avior_path_planner/src/utils/lane_change/utils.cpp	0.81% <ø> (+0.11%)	⬆️
...th_planner/src/scene_module/lane_change/normal.cpp	6.74% <6.25%> (-0.03%)	⬇️
...nner/utils/lane_change/lane_change_module_data.hpp	50.00% <100.00%> (+50.00%)	⬆️

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[satoshi-ota]

LGTM