perf(intersection): reduce bg::within call

[soblin]

Signed-off-by: Mamoru Sobue mamoru.sobue@tier4.jp

Description

cc: @veqcc

In getFirstPointInsidePolygons function, I added lane_id argument in order to call boost::within only to those points which are inside the lane of interest.

Related links

#2097

Tests performed

Tested in kashiwanoha map used in tutorial. The number of calls to boost::within reduced from 7103 to 1273.

The time for getStopLineFromMap reduce from ~9ms to ~1ms.

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[codecov]

Codecov Report

Base: 10.84% // Head: 10.82% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (686ff38) compared to base (a85f288).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2190      +/-   ##
==========================================
- Coverage   10.84%   10.82%   -0.02%     
==========================================
  Files        1178     1178              
  Lines       84833    84988     +155     
  Branches    19987    20135     +148     
==========================================
  Hits         9204     9204              
- Misses      65894    66035     +141     
- Partials     9735     9749      +14     

Flag	Coverage Δ		*Carryforward flag
differential	4.26% <0.00%> (?)
total	10.82% <0.00%> (ø)		Carriedforward from feb9f32

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

Impacted Files	Coverage Δ
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)

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[soblin]

@kyoichi-sugahara @taikitanaka3 @veqcc @shmpwk Can you review and approve this change ?

[soblin]

@tkimura4 @kosuke55 Can you briefly take a look at this and approve this ? (There's no feature change !)

[tkimura4]

LGTM