refactor(avoidance_module): change implementation to lambda

[zulfaqar-azmi-t4]

In the generateExtendedDrivableArea function, the implementation to extend
drivable areas with reference to object is moved to route_handler library.

This will allow the function to be reused for some future planned updates.

The refactor doesn't affect the behavior of the avoidance_module.

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Related Issue(required)

#485
#499

Description(required)

Refactoring the function so that the intent is much more clear, therefore it doensn't affect the behavior of the avoidance_module.
This also allows the function to be reused for debug visualization if necessary.

Review Procedure(required)

See build pass (no behavior change)

Related PR(optional)

#285
#365

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[codecov]

Codecov Report

Merging #486 (b6ae886) into main (5c9302d) will decrease coverage by 8.08%.
The diff coverage is 0.00%.

@@            Coverage Diff            @@
##             main    #486      +/-   ##
=========================================
- Coverage   10.94%   2.85%   -8.09%     
=========================================
  Files         704     110     -594     
  Lines       49690   10702   -38988     
  Branches     6655    1101    -5554     
=========================================
- Hits         5440     306    -5134     
+ Misses      39888   10252   -29636     
+ Partials     4362     144    -4218     

Impacted Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
planning/route_handler/src/route_handler.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	40.00% <0.00%> (-26.67%)	⬇️
...behavior_velocity_planner/src/utilization/util.cpp	32.43% <0.00%> (-1.62%)	⬇️
...vior_velocity_planner/include/utilization/util.hpp	12.00% <0.00%> (ø)
...ocity_planner/src/utilization/path_utilization.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/scene_occlusion_spot.cpp	0.00% <0.00%> (ø)
... and 596 more

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[taikitanaka3]

LGTM