fix(behavior_velocity): visualization and interpolation

[taikitanaka3]

Related Issue(required)

Description(required)

• fix last point of angle at spline interpolation at below modules (bug fix)
  added marker to confirm this fix

  • intersection
  • blindspot
  • occlusion spot
  • no stopping area
    

• fix duplicated polygon of sidewalk slice(just visualization problem)

Review Procedure(required)

launch Psim
and see debug markers using Map in Private Area tag

Related PR(optional)

autoware_launch

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[taikitanaka3]

output->points.at(l - 1) is where orientation is empty(=last point) so changed to l - 2(=last point - 1)

[taikitanaka3]

@takayuki5168 @tkimura4
can you take a look at this ?

[takayuki5168]

size_t l = resampled_s.size();

resampled_s and output->points are the same size, but it seems better to use output->points for readability.
This code seems ok for temporary fix (since using l - 2 seems not so good).

For the future work, it's better to calculate orientation for all the points including front and back ones.
FYI, I've implemented spline interpolation for yaw angles, and I'll create a PR soon. (You don't have to use that function since I'm not sure why my PR will be merged)

[taikitanaka3]

@takayuki5168
fixed at 145aeb8
I made sure it's works same

[taikitanaka3]

duplicated marker is going to visualized

[codecov]

Codecov Report

Merging #351 (facf87c) into tier4/proposal (a9c47ef) will decrease coverage by 2.72%.
The diff coverage is 0.00%.

@@                Coverage Diff                @@
##           tier4/proposal    #351      +/-   ##
=================================================
- Coverage            9.30%   6.57%   -2.73%     
=================================================
  Files                 701      75     -626     
  Lines               48911    4970   -43941     
  Branches             5807     684    -5123     
=================================================
- Hits                 4549     327    -4222     
+ Misses              40551    4418   -36133     
+ Partials             3811     225    -3586     

Impacted Files	Coverage Δ
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
...module/no_stopping_area/scene_no_stopping_area.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	8.99% <0.00%> (ø)
...sion_spot/scene_occlusion_spot_in_private_road.cpp	0.00% <0.00%> (ø)
...sion_spot/scene_occlusion_spot_in_private_road.hpp
common/time_utils/src/time_utils/time_utils.cpp
...ation_merger/data_association/data_association.cpp
...ier4_perception_rviz_plugin/src/tools/car_pose.cpp
...n/shape_estimation/lib/corrector/car_corrector.cpp
... and 621 more

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[tkimura4]

LGTM

[tkimura4]

@yukkysaito
Sorry, I merged this PR before your check by mistake because of auto-merge setting