refactor(behavior_velocity): refactor occlusion spot module

[taikitanaka3]

Related Issue(required)

#258

Description(required)

refactor following (no behavior change except module selection by param)

• remove expression of private road
• remove filter by road type and add detection type param

create instance if path point size > 0
remove instance if path point == 0

This PR wont refactor

• getCurrentRoadType: detailed process of considering lanelet with highway(should the highway occlusion be filtered or we should not making instance at highway or what?) .

Review Procedure(required)

launch psim

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[codecov]

Codecov Report

Merging #400 (752137a) into tier4/proposal (9ce55c7) will decrease coverage by 4.28%.
The diff coverage is 0.00%.

@@                Coverage Diff                @@
##           tier4/proposal    #400      +/-   ##
=================================================
- Coverage           10.20%   5.91%   -4.29%     
=================================================
  Files                 705      76     -629     
  Lines               49427    5103   -44324     
  Branches             6413     666    -5747     
=================================================
- Hits                 5043     302    -4741     
+ Misses              40213    4658   -35555     
+ Partials             4171     143    -4028     

Impacted Files	Coverage Δ
...er/include/scene_module/occlusion_spot/manager.hpp	0.00% <ø> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	8.33% <ø> (ø)
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <ø> (ø)
...ule/intersection/scene_merge_from_private_road.cpp	0.00% <ø> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
...module/no_stopping_area/scene_no_stopping_area.cpp	0.00% <ø> (ø)
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/occlusion_spot/grid_utils.cpp	23.71% <0.00%> (-0.25%)	⬇️
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
... and 637 more

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[taikitanaka3]

memo
default: predicted object

[tkimura4]

Could you update readme too?

[tkimura4]

you can remove extractTargetRoadArcLength because this function is no longer used.

[taikitanaka3]

rebased for conflict with interpolation refactoring

[tkimura4]

method: predicted object

method: occupancy grid

[tkimura4]

LGTM

[taikitanaka3]

@yukkysaito
can you approve this if this is ok?

[taikitanaka3]

• release note