fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated

[danielsanchezaran]

Description

🤖 Generated by Copilot at 684bffd

Refactor simple_planning_simulator_core.cpp to skip ego pitch calculation when road slope simulation is off and use a constant for gravity. This improves performance and accuracy of the simple planning simulator.

Tests performed

I found the bug when using the planning simulator on a specific lanelet map that happened to have inclination (I did not know about the inclination). The result was that the controller output would give negative acceleration and the vehicle would not move after planning a path even when road slope simulation is off . The video shows the bug and the image the control output:

cap-.2023-11-06-17-04-55.mp4

I saved the specific starting pose of the vehicle and replayed the planning simulator after applying the fix on this PR and the problem was solved: the vehicle could move after planning. The acceleration is no longer negative either.

cap-.2023-11-07-10-02-30.mp4

Effects on system behavior

When performing simulations, the simulation calculates the acceleration caused by the vehicle's pitch angle, even if the enable_road_slope_simulation_ parameter is set to false which is an unexpected behavior. With this fix, the acceleration caused by pitch will be zero when enable_road_slope_simulation_ is false. So, in those cases, the acceleration given by the controller will change.

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[codecov]

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (a3e87cc) 15.37% compared to head (350a81b) 15.38%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5501      +/-   ##
==========================================
+ Coverage   15.37%   15.38%   +0.01%     
==========================================
  Files        1697     1697              
  Lines      117496   117437      -59     
  Branches    37763    37735      -28     
==========================================
+ Hits        18063    18066       +3     
+ Misses      78861    78810      -51     
+ Partials    20572    20561      -11     

Flag	Coverage Δ		*Carryforward flag
differential	57.18% <50.00%> (?)
total	15.38% <ø> (+<0.01%)	⬆️	Carriedforward from a3e87cc

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

Files	Coverage Δ
...ils/include/motion_utils/trajectory/trajectory.hpp	65.65% <ø> (ø)
...alization/gyro_odometer/src/gyro_odometer_core.cpp	47.72% <ø> (+0.71%)	⬆️
...tag_based_localizer/src/ar_tag_based_localizer.cpp	5.14% <ø> (+1.52%)	⬆️
...nning_simulator/simple_planning_simulator_core.cpp	37.53% <50.00%> (ø)

... and 1 file with indirect coverage changes

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[TakaHoribe]

LGTM