fix(lane_departure_checker): fix trajectory resampling logic to keep given interval

[kyoichi-sugahara]

Description

Fixed a bug in the resampleTrajectory function where the prev_point was being updated even when a trajectory point was not added to the resampled trajectory. This caused incorrect distance calculations and potentially led to trajectory points being improperly filtered.

Related links

Private Links:

• TIERIV internal link

How was this PR tested?

• run planning simulator

green point: resampled points

behavior before the change:

2025-03-04_11.33.10.mp4

behvior after the change:

2025-03-04_11.34.51.mp4

• add unit test to detect bug in the original implementation

original code fails as follows

1: [ RUN      ] LaneDepartureCheckerTest/ResampleTrajectoryTest.test_resample_trajectory/ConsecutiveSmallDistancesFollowedByLargeDistance
1: /home/kyoichi-sugahara/workspace/pilot-auto/src/autoware/universe/control/autoware_lane_departure_checker/test/test_resample_trajectory.cpp:67: Failure
1: Expected equality of these values:
1:   resampled.size()
1:     Which is: 2
1:   p.expected_points.size()
1:     Which is: 3
1: [  FAILED  ] LaneDepartureCheckerTest/ResampleTrajectoryTest.test_resample_trajectory/ConsecutiveSmallDistancesFollowedByLargeDistance, where GetParam() = ConsecutiveSmallDistancesFollowedByLargeDistance (0 ms)

updated code succeed as follows

1: [ RUN      ] LaneDepartureCheckerTest/ResampleTrajectoryTest.test_resample_trajectory/ConsecutiveSmallDistancesFollowedByLargeDistance
1: [       OK ] LaneDepartureCheckerTest/ResampleTrajectoryTest.test_resample_trajectory/ConsecutiveSmallDistancesFollowedByLargeDistance (0 ms)

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 26.40%. Comparing base (337f0ac) to head (9562288).
Report is 2 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main   #10221   +/-   ##
=======================================
  Coverage   26.40%   26.40%           
=======================================
  Files        1390     1390           
  Lines      107718   107719    +1     
  Branches    41501    41496    -5     
=======================================
+ Hits        28442    28445    +3     
+ Misses      76440    76439    -1     
+ Partials     2836     2835    -1     

Flag	Coverage Δ		*Carryforward flag
differential	29.88% <ø> (?)
total	26.40% <ø> (+<0.01%)	⬆️	Carriedforward from 337f0ac

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[zulfaqar-azmi-t4]

LGTM! checked with with rosbag that was collected on 2025-02-07.