fix: is_in_parking_lot check method

[NorahXiong]

Signed-off-by: NorahXiong [email protected]

Description

fix #941
Use ego car position instead of the lanelet nearest to ego car to check if ego car is in a parking lot.

Related links

#941

Tests performed

Tested in planning simulator.

Before fixing

After fixing

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[codecov]

Codecov Report

Merging #992 (196b607) into main (73b76cf) will decrease coverage by 0.14%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #992      +/-   ##
========================================
- Coverage   8.88%   8.73%   -0.15%     
========================================
  Files       1017    1017              
  Lines      63653   65195    +1542     
  Branches   11224   11396     +172     
========================================
+ Hits        5655    5696      +41     
- Misses     53074   54486    +1412     
- Partials    4924    5013      +89     

Flag	Coverage Δ		*Carryforward flag
differential	2.25% <0.00%> (?)
total	8.88% <0.00%> (ø)		Carriedforward from 73b76cf

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

Impacted Files	Coverage Δ
map/lanelet2_extension/lib/query.cpp	10.53% <0.00%> (+0.77%)	⬆️
...nodes/costmap_generator/costmap_generator_node.cpp	0.00% <ø> (ø)
.../scenario_selector_node/scenario_selector_node.cpp	0.00% <ø> (ø)
...nning/behavior_velocity_planner/test/src/utils.hpp	82.22% <0.00%> (-5.59%)	⬇️
...city_planner/include/utilization/state_machine.hpp	50.00% <0.00%> (-2.64%)	⬇️
map/lanelet2_extension/lib/mgrs_projector.cpp	38.00% <0.00%> (-2.43%)	⬇️
...city_planner/include/utilization/arc_lane_util.hpp	40.42% <0.00%> (-0.88%)	⬇️
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	8.69% <0.00%> (-0.49%)	⬇️
map/lanelet2_extension/lib/utilities.cpp	8.89% <0.00%> (-0.30%)	⬇️
...ior_velocity_planner/test/src/test_utilization.cpp	53.52% <0.00%> (-0.11%)	⬇️
... and 167 more

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[shmpwk]

Thank you for your nice contribution!
I've confirmed it works fine wherever the vehicle starts.
Also, the changes in scenario_selector_node.cpp and constmap_generator_node.cpp are independent from the other codes and thus they cannot be harmful for now.

[kenji-miyake]

Thank you for fixing this! Generally LGTM, but some improvements can be considered.

[kenji-miyake]

Great! Thanks! 🙏

[shmpwk]

LGTM!