fix(obstacle_avoidance_planner): fix lateral calculations

[beyzanurkaya]

Description

This PR is to add the missing functionality of fixing lateral calculations in obstacle_avoidance_planner since refactoring done in #2796 .

Related links

closes #4190

Notes for reviewers

Original PR : #2878
Refactoring PR : #2796

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Attention: 21 lines in your changes are missing coverage. Please review.

Comparison is base (c65bccd) 14.77% compared to head (f0311e0) 14.77%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4292   +/-   ##
=======================================
  Coverage   14.77%   14.77%           
=======================================
  Files        1663     1663           
  Lines      115168   115181   +13     
  Branches    35530    35531    +1     
=======================================
+ Hits        17015    17020    +5     
- Misses      78937    78944    +7     
- Partials    19216    19217    +1     

Flag	Coverage Δ		*Carryforward flag
differential	36.60% <32.25%> (?)
total	14.77% <ø> (-0.01%)	⬇️	Carriedforward from c65bccd

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

Files	Coverage Δ
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	39.88% <28.57%> (-0.08%)	⬇️
...ng/obstacle_avoidance_planner/src/debug_marker.cpp	16.12% <33.33%> (+1.43%)	⬆️

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[beyzanurkaya]

@takayuki5168 Sorry for the delay, could you review this PR?

[takayuki5168]

Thank you for the contribution!