feat(behavior_path_planner): more stable dynamic drivable area expansion

[maxime-clem]

Description

Improve the stability of the drivable area bounds when using the dynamic expansion.
The instability is caused by the path points moving, so this PR adds a resampling of the points at fixed intervals.

Requires the following PR to add the new parameter: autowarefoundation/autoware_launch#522.

Tests performed

Psim and evaluator.

Effects on system behavior

More stable drivable area bounds when using the dynamic expansion.

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[codecov]

Codecov Report

Patch coverage: 30.76% and project coverage change: -0.10% ⚠️

Comparison is base (9b1e4e3) 14.88% compared to head (b440649) 14.79%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4677      +/-   ##
==========================================
- Coverage   14.88%   14.79%   -0.10%     
==========================================
  Files        1549     1549              
  Lines      106958   107876     +918     
  Branches    32791    33435     +644     
==========================================
+ Hits        15925    15958      +33     
- Misses      73639    74424     +785     
- Partials    17394    17494     +100     

Flag	Coverage Δ		*Carryforward flag
differential	13.25% <30.76%> (?)
total	14.88% <ø> (-0.01%)	⬇️	Carriedforward from 9b1e4e3

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

Files Changed	Coverage Δ
...ner/include/behavior_path_planner/data_manager.hpp	43.75% <ø> (ø)
...anner/utils/drivable_area_expansion/parameters.hpp	19.44% <0.00%> (-0.56%)	⬇️
...or_path_planner/src/behavior_path_planner_node.cpp	26.90% <0.00%> (-0.10%)	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	15.36% <0.00%> (ø)
...path_planner/test/test_drivable_area_expansion.cpp	32.58% <28.57%> (-0.17%)	⬇️
...rivable_area_expansion/drivable_area_expansion.cpp	37.58% <32.00%> (-0.82%)	⬇️
...r/src/utils/drivable_area_expansion/footprints.cpp	37.50% <50.00%> (ø)
...er/src/utils/drivable_area_expansion/expansion.cpp	34.67% <100.00%> (ø)

... and 9 files with indirect coverage changes

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