feat(autoware_behavior_path_planner_common): add continuous curvature pullover path generation

[TakumIto]

Description

Append continuous curvature pullover path generation feature using clothoid curve.
Supporting only the forward pullover for now.

Behavior comparison
Clothoid (Developed in this PR)

forward_clothoid.webm

Shift parking (Default)

forward_shift.webm

Max steering

forward_suegiri.webm

Related links

Related research paper
https://ieeexplore.ieee.org/document/6871412
https://ieeexplore.ieee.org/document/6856443

Launcher
autowarefoundation/autoware_launch#1320
Parent Issue:

• N/A

How was this PR tested?

evaluator
https://evaluation.tier4.jp/evaluation/reports/c9a0571a-c807-5888-8e76-c757cf1948a3?project_id=prd_jt

(legacy test before commit c929579)
https://evaluation.tier4.jp/evaluation/reports/e3854d38-70eb-55f5-bed7-a43fdc94140f?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[kosuke55]

@TakumIto
could you drop unnecessary comit?
tier4#1776
currently there are diff between awf:main and tier4:awf-latest so need to drop it when sending PR to awf

[kosuke55]

maybe missing goal/start_planner_module update commit?

[kosuke55]

theta is double and may have floating point error
so better not use exact 0
like

if (theta < eps)

[kosuke55]

if now we can use one of arc or clothoid, prepare parameters for enabling each.

• enable_arc_forward_parking: true
• enable_clothoid_forward_parking: true

     } else if (planner_type == "ARC_FORWARD" && parameters.enable_arc_forward_parking) {
      pull_over_planners_.push_back(
        std::make_shared<GeometricPullOver>(node, parameters, /*is_forward*/ true, /*use_clothoid*/ false));
    } else if (planner_type == "CLOTHOID_FORWARD" && parameters.enable_clothoid_forward_parking) {
      pull_over_planners_.push_back(
        std::make_shared<GeometricPullOver>(node, parameters, /*is_forward*/ true, /*use_clothoid*/ true));