feat(map_based_prediction): fix object yaw and velocity when necessary

[purewater0901]

Signed-off-by: yutaka purewater0901@gmail.com

Description

Currently, map based prediction has a serious issue that cannot handle the wrong yaw angle of the object. In order to fix this problem, I changed the condition and object yaw and velocity when necessary.

map_based_prediction-2022-07-15_16.15.20.mp4

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Tests performed

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[taikitanaka3]

[Q]
Just a question.
Does This PR have contradiction to this PR? #1348

[purewater0901]

@taikitanaka3 No, this PR is independent of #1348

[codecov]

Codecov Report

Merging #1358 (b92c6a3) into main (f0907b8) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1358      +/-   ##
========================================
- Coverage   9.64%   9.60%   -0.04%     
========================================
  Files       1096    1096              
  Lines      77124   77433     +309     
  Branches   17705   17705              
========================================
  Hits        7441    7441              
- Misses     62443   62752     +309     
  Partials    7240    7240              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.63% <0.00%> (ø)		Carriedforward from b468b1f

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

Impacted Files	Coverage Δ
...map_based_prediction/map_based_prediction_node.hpp	0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)

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[taikitanaka3]

LGTM