refactor(goal_planner): refactoring plan flow and add post process

[kosuke55]

Description

refactoring plan flow

  /*　
   * state transitions and plan functions used in each state
   *
   * +--------------------------+
   * | RUNNING                  |
   * | plnaPullOverAsCandidate()|
   * +------------+-------------+
   *              | hasDecidedPath()
   *  2           v
   * +--------------------------+
   * | WAITING_APPROVAL         |
   * | planPullOverAsCandidate()|
   * +------------+-------------+
   *              | isActivated()
   *  3           v
   * +--------------------------+
   * | RUNNING                  |
   * | planPullOverAsOutput()   |
   * +--------------------------+
   */

Related links

before this PR merge

• refactor(goal_planner): add updateStatus and reduce variables  #5546

Tests performed

psim

evaluator_description: refactor/goal_planner_plan
2023/11/10 https://evaluation.tier4.jp/evaluation/reports/4030409f-6c74-543f-b949-30d8fcaec093/?project_id=prd_jt

evaluator_description: refactor/goal_planner_plan
2023/11/13 https://evaluation.tier4.jp/evaluation/reports/89a8ffc6-8b02-52b8-a77d-3f66c1fc04be/?project_id=prd_jt

evaluator_description: refactor/goal_planner_plan
2023/11/14 https://evaluation.tier4.jp/evaluation/reports/32b6bef1-9217-5383-ab16-0f84297be6c5/?project_id=prd_jt

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Attention: 147 lines in your changes are missing coverage. Please review.

Comparison is base (ea12d77) 15.25% compared to head (a035d57) 15.26%.
Report is 3 commits behind head on main.

Files	Patch %	Lines
.../scene_module/goal_planner/goal_planner_module.cpp	0.00%	140 Missing ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	40.00%	3 Missing ⚠️
.../src/scene_module/side_shift/side_shift_module.cpp	0.00%	1 Missing and 2 partials ⚠️
...nner/scene_module/side_shift/side_shift_module.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5554   +/-   ##
=======================================
  Coverage   15.25%   15.26%           
=======================================
  Files        1717     1717           
  Lines      118382   118322   -60     
  Branches    37910    37875   -35     
=======================================
- Hits        18061    18056    -5     
+ Misses      79668    79617   -51     
+ Partials    20653    20649    -4     

Flag	Coverage Δ		*Carryforward flag
differential	12.69% <1.34%> (?)
total	15.27% <ø> (+0.02%)	⬆️	Carriedforward from ea12d77

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

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[kyoichi-sugahara]

@kosuke55
can you add TODO(someone) for writing flow of the module in order not to forget?

Running
planPullOverAsCandidate()
↓hasDecidedePath()
WAITING_APPROVAL
planPullOverAsCandidate()
↓ isActivated()
Running
planPullOverAsOutput()

[kyoichi-sugahara]

@kosuke55
could you resolve conflicts?

[kyoichi-sugahara]

thanks!!!!

[kosuke55]

added flow in 20259e2

[kyoichi-sugahara]

LGTM!