fix(avoidance): guard invalid shift point

[satoshi-ota]

Signed-off-by: satoshi-ota satoshi.ota928@gmail.com

Description

• guard shift points whose start point exists behind the ego position

• before (chattering the avoidance path)

simplescreenrecorder-2022-09-21_18.15.55.mp4

• after (the avoidance path is stable)

simplescreenrecorder-2022-09-21_18.25.00.mp4

Link (For TIER4 INTERNAL)

• https://tier4.atlassian.net/browse/T4PB-20855

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[codecov]

Codecov Report

Base: 10.32% // Head: 10.37% // Increases project coverage by +0.04% 🎉

Coverage data is based on head (816fe12) compared to base (521f777).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1924      +/-   ##
==========================================
+ Coverage   10.32%   10.37%   +0.04%     
==========================================
  Files        1147     1141       -6     
  Lines       81613    75351    -6262     
  Branches    19049    18796     -253     
==========================================
- Hits         8428     7815     -613     
+ Misses      64062    58632    -5430     
+ Partials     9123     8904     -219     

Flag	Coverage Δ		*Carryforward flag
differential	1.27% <0.00%> (?)
total	10.42% <ø> (+0.11%)	⬆️	Carriedforward from 521f777

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

Impacted Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
system/default_ad_api/src/interface.cpp	0.00% <0.00%> (-71.43%)	⬇️
...ng_simulator/vehicle_model/sim_model_interface.hpp	0.00% <0.00%> (-66.67%)	⬇️
system/default_ad_api/src/localization.cpp	0.00% <0.00%> (-42.86%)	⬇️
...auto_common/include/helper_functions/type_name.hpp	66.66% <0.00%> (-33.34%)	⬇️
system/default_ad_api/src/routing.cpp	0.00% <0.00%> (-33.34%)	⬇️
..._utils/include/grid_map_utils/polygon_iterator.hpp	50.00% <0.00%> (-25.00%)	⬇️
...wer/include/trajectory_follower/lowpass_filter.hpp	50.00% <0.00%> (-25.00%)	⬇️
...odel/vehicle_model_bicycle_kinematics_no_delay.cpp	70.00% <0.00%> (-21.31%)	⬇️
...mon/autoware_point_types/test/test_point_types.cpp	66.66% <0.00%> (-16.67%)	⬇️
... and 708 more

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[taikitanaka3]

LGTM

[rej55]

LGTM