feat(tier4_autoware_utils): add vehicle state checker

[satoshi-ota]

Description

• The dicision of vehicle state (vehicle is stopping or moving) should be judged by a common node. #744

Now, the vehicle state that whether a vehicle is stopped or not is checked in many nodes (e.g. planning, control, system, etc...) by the functions defined by each of them.

There are two purposes for adding a stop decision function to utility library:

1. Make it easy for various nodes to check whether a vehicle is stopped or not.
2. Commonalize stopped condition to prevent vehicle state inconsistencies among autoware nodes.

In this PR, I added following functions:

• isVehicleStopped(const double stop_duration)

  • Check simply whether the vehicle is stopped based on the localization result.
  • Returns true if the vehicle is stopped, even if system outputs a non-zero target velocity.

• isVehicleStoppedAtStopPoint(const double stop_duration)

  • Check whether the vehicle is stopped at stop point based on the localization and planning result.
  • Returns true if the vehicle is not only stopped but also arrived at stop point.

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[codecov]

Codecov Report

Merging #896 (9a85dcf) into main (49d1764) will increase coverage by 0.06%.
The diff coverage is 27.92%.

@@           Coverage Diff            @@
##            main    #896      +/-   ##
========================================
+ Coverage   9.54%   9.60%   +0.06%     
========================================
  Files        933     936       +3     
  Lines      57750   58121     +371     
  Branches   10411   10672     +261     
========================================
+ Hits        5510    5584      +74     
- Misses     47708   47806      +98     
- Partials    4532    4731     +199     

Flag	Coverage Δ		*Carryforward flag
differential	10.29% <27.92%> (?)
total	9.54% <ø> (ø)		Carriedforward from 69e5364

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

Impacted Files	Coverage Δ
...ls/test/src/vehicle/test_vehicle_state_checker.cpp	17.87% <17.87%> (ø)
...r4_autoware_utils/test/src/test_autoware_utils.cpp	66.66% <50.00%> (-33.34%)	⬇️
...toware_utils/src/vehicle/vehicle_state_checker.cpp	58.97% <58.97%> (ø)
.../src/vehicle/test_vehicle_state_checker_helper.hpp	80.00% <80.00%> (ø)
map/lanelet2_extension/lib/visualization.cpp	0.00% <0.00%> (ø)
...ocity_planner/src/scene_module/stop_line/scene.cpp	0.00% <0.00%> (ø)

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[satoshi-ota]

TODO:

• Write PR description.
• Write Unit Tests.

[satoshi-ota]

@kenji-miyake @yukkysaito @TakaHoribe @YamatoAndo @isamu-takagi
This PR is READY, so could you please review the code ? 🙏

[yukkysaito]

LGTM

[isamu-takagi]

@satoshi-ota
Could you add the document that describes what classes are provided and how to use them?

[satoshi-ota]

@satoshi-ota Could you add the document that describes what classes are provided and how to use them?

OK 👍 I'll create docs directory under the tier4_autoware_utils package.

[satoshi-ota]

In future, I want to set this parameter as global parameter.
FYI: #910

[satoshi-ota]

@satoshi-ota Could you add the document that describes what classes are provided and how to use them?

OK +1 I'll create docs directory under the tier4_autoware_utils package.

@isamu-takagi Add document about vehicle_state_checker feature and usage in 2416f7e.

[isamu-takagi]

LGTM. Great work!

[satoshi-ota]

• release node