fix(start_planner): crop backward path to start from narrow space

[kosuke55]

Description

crop backward path to start from narrow space

before

after

Related links

Tests performed

psim

https://evaluation.tier4.jp/evaluation/reports/c248c06c-6557-5d52-a552-e17ff68e1246?project_id=prd_jt
1650/1650

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage: 42.10% and no project coverage change.

Comparison is base (cdc568d) 15.91% compared to head (cb994ae) 15.92%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4929   +/-   ##
=======================================
  Coverage   15.91%   15.92%           
=======================================
  Files        1580     1580           
  Lines      109068   109084   +16     
  Branches    33634    33644   +10     
=======================================
+ Hits        17363    17373   +10     
+ Misses      73079    73078    -1     
- Partials    18626    18633    +7     

Flag	Coverage Δ		*Carryforward flag
differential	18.54% <42.10%> (?)
total	15.92% <ø> (+<0.01%)	⬆️	Carriedforward from cdc568d

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

Files Changed	Coverage Δ
...planner/src/utils/start_planner/shift_pull_out.cpp	54.77% <42.10%> (+0.16%)	⬆️

... and 1 file with indirect coverage changes

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[kosuke55]

removes points which are out of lanes up to the start pose.

[kosuke55]

@kyoichi-sugahara
scenario tests passed! could you please approve this PR?

https://evaluation.tier4.jp/evaluation/reports/c248c06c-6557-5d52-a552-e17ff68e1246?project_id=prd_jt
1650/1650

[kyoichi-sugahara]

LGTM!