fix(behavior_velocity_planner_common): fix findOffsetSegment

[kosuke55]

Description

fix findOffsetSegment remain length calculation

before

findForwardOffsetSegment

    /**
     *   (base_idx) --- offset_length --------->
     *              --------- (i) <-------------<-- remain --> (i+1)
     */

after

findForwardOffsetSegment

    /**
     *   (base_idx) --- offset_length --------->
     *              --------- (i) <-- remain -->-----------> (i+1)
     */

findBackwardOffsetSegment

    /**
     *                         <-------- offset_length --- (base_idx)
     *  ----- (i) <-- remain -->-------> (i+1)
     */

calcTargetPose

  /**
   * (front) <-- remain_length --> (interp) <----> (back)
   */

Related links

move from #9105

Parent Issue:

• Link

How was this PR tested?

tested in later PR unit test ( #9107)

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 27.54%. Comparing base (6ff2121) to head (e9a3eb2).
Report is 19 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9130      +/-   ##
==========================================
- Coverage   27.55%   27.54%   -0.02%     
==========================================
  Files        1304     1308       +4     
  Lines      101047   101093      +46     
  Branches    39236    39238       +2     
==========================================
- Hits        27843    27842       -1     
- Misses      70580    70627      +47     
  Partials     2624     2624              

Flag	Coverage Δ		*Carryforward flag
differential	21.53% <100.00%> (?)
total	27.55% <ø> (-0.01%)	⬇️	Carriedforward from 6ff2121

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