RJD-1334/fix_longitudinal_distance

[robomic]

Abstract

This pull requests fixes issue described here

Details

1. Simplification of HdMapUtils::getLongitudinalDistance function logic, while retaining its functionalify.
2. Additional matching: previously matching occurred at the starts of the lanelets, now matching is also performed at 0.5 * min(from_lanelet, to_lanelet) to cover the corner case (please see the mentioned issue description).
3. Additional unit tests for the modified function.
4. During development i have decided that using the first instead of the second approach is far superior (refer to this discussion)

• This approach produces cleaner code in general.
• This approach does not require modification of the underlying centerline's math::geometry::CatmullRomSpline.
• The working POC of the first approach is still implemented in the first commit of this PR.

5. Docs have been updated accordingly.
6. Some recurring scenario conditions have been updated. Currently, majority of these conditions are too precise, this disallows any changes in the calculations.

References

#1364
Jira ticket

[github-actions]

Checklist for reviewers ☑️

All references to "You" in the following text refer to the code reviewer.

• Is this pull request written in a way that is easy to read from a third-party perspective?
• Is there sufficient information (background, purpose, specification, algorithm description, list of disruptive changes, and migration guide) in the description of this pull request?
• If this pull request contains a destructive change, does this pull request contain the migration guide?
• Labels of this pull request are valid?
• All unit tests/integration tests are included in this pull request? If you think adding test cases is unnecessary, please describe why and cross out this line.
• The documentation for this pull request is enough? If you think adding documents for this pull request is unnecessary, please describe why and cross out this line.

[robomic]

Regression tests: OK

[hakuturu583]

Code is looks good to me and I confirmed this pull request has no-regression.
Please add one comment addition.

[sonarcloud]

Quality Gate passed

Issues
2 New issues
0 Accepted issues

Measures
0 Security Hotspots
94.1% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud