feat(behavior_velocity): occlusion spot generate not detection area occupancy grid

[taikitanaka3]

Description

• new feature
  • generate not detection area occupancy grid from dynamic object

concept moving vehicle will interrupt obstacle running out behind moving vehicle

white: occupied
black: freespace
gray: unkown

This PR is going to

• consider delay of dynamic object briefly
  This PR wont
• consider delay of dynamic object accurately

Related links

tier4/autoware_launch#282

Tests performed

by psim

Notes for reviewers

testing raycast all vehicle

test raycast for all vehicle

test raycast only moving vehicle

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Merging #620 (5988206) into main (23cb41a) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #620      +/-   ##
==========================================
- Coverage   10.59%   10.55%   -0.04%     
==========================================
  Files         735      736       +1     
  Lines       51761    52085     +324     
  Branches     6596     6757     +161     
==========================================
+ Hits         5482     5499      +17     
- Misses      41819    42124     +305     
- Partials     4460     4462       +2     

Flag	Coverage Δ		*Carryforward flag
differential	6.29% <0.00%> (?)
total	10.59% <0.00%> (ø)		Carriedforward from 2772082

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

Impacted Files	Coverage Δ
...include/scene_module/occlusion_spot/grid_utils.hpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	37.50% <ø> (+12.50%)	⬆️
...ner/src/scene_module/occlusion_spot/grid_utils.cpp	12.37% <0.00%> (-4.42%)	⬇️
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	6.89% <0.00%> (-2.79%)	⬇️
...ene_module/occlusion_spot/scene_occlusion_spot.cpp	0.00% <0.00%> (ø)
... and 1 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 23cb41a...5988206. Read the comment docs.