Add params for automatically calculate sampled lateral positions

Signed-off-by: Maxime CLEMENT <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml

@@ -25,8 +25,9 @@
       resolution: 0.5  # [m] target distance between sampled path points
       previous_path_reuse_points_nb: 2  # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc)
       target_lengths: [10.0, 20.0]  # [m] target lengths of the sampled paths
+      nb_target_lateral_positions: 2 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation)
+      target_lateral_positions: [-0.5, 0.0, 0.5]  # manual values that are only used if nb_target_lateral_positions = 0
       frenet:  # target values for the sampled "lateral deviation over longitudinal position" polynomial
-        target_lateral_positions: [-0.5, 0.0, 0.5]
         target_lateral_velocities: [-0.1, 0.0, 0.1]
         target_lateral_accelerations: [0.0]
       bezier: