fix(avoidance): avoidance shift line processing bug

[satoshi-ota]

Description

🤖 Generated by Copilot at 09af845

This pull request enhances the avoidance_module of the behavior_path_planner by refining the shift line handling and fixing a RTC status bug. It also optimizes the memory usage of the path shifter by avoiding redundant operations.

---

It doesn't remove shift lines correctly during yield status. As a result avoidance path usually chatters unexpectedly.

simplescreenrecorder-2023-08-24_18.23.56.mp4

Tests performed

simplescreenrecorder-2023-08-24_17.05.14.mp4

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance performance

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (cf42588) 15.10% compared to head (09af845) 15.10%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4731   +/-   ##
=======================================
  Coverage   15.10%   15.10%           
=======================================
  Files        1563     1563           
  Lines      107888   107891    +3     
  Branches    33101    33106    +5     
=======================================
+ Hits        16300    16301    +1     
- Misses      73819    73820    +1     
- Partials    17769    17770    +1     

Flag	Coverage Δ		*Carryforward flag
differential	13.18% <0.00%> (?)
total	15.10% <ø> (+<0.01%)	⬆️	Carriedforward from cf42588

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

Files Changed	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	7.81% <0.00%> (-0.13%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	11.63% <0.00%> (+0.05%)	⬆️

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[shmpwk]

LGTM

[kyoichi-sugahara]

LGTM!
Thank you!
(I will apply new interface for side_shift module...