feat(obstacle_avoidance_planner): faster optimization by sparser re-formulation

[takayuki5168]

Description

According to https://github.com/orgs/autowarefoundation/discussions/3681, this PR makes the optimization of MPT (Model Predictive Trajectory) sparser resulting in faster calculation.

TODO

• check the result with debug build

Qualitative evaluation

I measured the calculation time of obstacle_avoidance_planner with the following route on the sample map.

without this PR

with this PR
The time rarely increases suddenly, but overall much better than without this PR.

Tests performed

planning simulator

Effects on system behavior

Nothing

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.

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.

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

[takayuki5168]

Without prev_solution_status_ == 1, the warm start is used even if the previous optimization failed, resulting in successive optimization failure.

[codecov]

Codecov Report

Patch coverage: 50.00% and project coverage change: -0.01% ⚠️

Comparison is base (2b7afb1) 14.84% compared to head (4a0979a) 14.83%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4600      +/-   ##
==========================================
- Coverage   14.84%   14.83%   -0.01%     
==========================================
  Files        1529     1529              
  Lines      105769   105761       -8     
  Branches    32221    32215       -6     
==========================================
- Hits        15698    15694       -4     
+ Misses      72913    72912       -1     
+ Partials    17158    17155       -3     

Flag	Coverage Δ		*Carryforward flag
differential	38.68% <50.00%> (?)
total	14.81% <ø> (-0.03%)	⬇️	Carriedforward from 2b7afb1

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

Files Changed	Coverage Δ
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	0.00% <ø> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00% <ø> (ø)
...ner/src/scene_module/dynamic_avoidance/manager.cpp	0.00% <ø> (ø)
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	85.71% <ø> (ø)
...cle_avoidance_planner/state_equation_generator.hpp	100.00% <ø> (ø)
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	40.11% <44.77%> (+0.11%)	⬆️
...avoidance_planner/src/state_equation_generator.cpp	65.21% <81.81%> (-3.75%)	⬇️

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.