feat(behavior_path_planner): add combineLanelets

[kosuke55]

Description

add combineLanelets to commonize processing like

• combine road_lanes and pull_out_lanes
• combine road_lanes and pull_over_lanes

Related links

Tests performed

build

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (81a1e53) 14.88% compared to head (a202926) 14.88%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4657      +/-   ##
==========================================
- Coverage   14.88%   14.88%   -0.01%     
==========================================
  Files        1547     1547              
  Lines      106662   106670       +8     
  Branches    32632    32636       +4     
==========================================
  Hits        15874    15874              
- Misses      73483    73491       +8     
  Partials    17305    17305              

Flag	Coverage Δ		*Carryforward flag
differential	13.23% <0.00%> (?)
total	14.88% <ø> (ø)		Carriedforward from 81a1e53

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

Files Changed	Coverage Δ
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
planning/behavior_path_planner/src/utils/utils.cpp	14.93% <0.00%> (-0.09%)	⬇️

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[takayuki5168]

Why not used anywhere?

[kosuke55]

will replace

autoware.universe/planning/behavior_path_planner/src/utils/start_planner/geometric_pull_out.cpp

Lines 42 to 58 in f398db4

	// combine road lane and pull out lane
	const double backward_path_length =
	planner_data_->parameters.backward_path_length + parameters_.max_back_distance;
	const auto road_lanes = utils::getExtendedCurrentLanes(
	planner_data_, backward_path_length, std::numeric_limits<double>::max(),
	/*forward_only_in_route*/ true);
	const auto pull_out_lanes = getPullOutLanes(planner_data_, backward_path_length);
	auto lanes = road_lanes;
	for (const auto & pull_out_lane : pull_out_lanes) {
	auto it = std::find_if(
	lanes.begin(), lanes.end(), [&pull_out_lane](const lanelet::ConstLanelet & lane) {
	return lane.id() == pull_out_lane.id();
	});
	if (it == lanes.end()) {
	lanes.push_back(pull_out_lane);
	}
	}

in oher PR and use in #4610