fix(drivable_area_expansion): fix max_arc_length parameter and extra_arc_length parameters

[maxime-clem]

Description

This PR fixes bugs with the max_arc_length and extra_arc_length parameters.

• Path points are now initially cropped using the max_arc_length parameter.
• max_arc_length = 0.0 is correctly handled as meaning "no limit on the path arc length".
• arc length is correctly calculated when moving up the bound to apply the expansion distance to extra bound points following the extra_arc_length parameter.

Tests performed

Psim

Effects on system behavior

Parameters now work correctly.

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[codecov]

Codecov Report

Attention: 5 lines in your changes are missing coverage. Please review.

Comparison is base (0c7ef98) 14.77% compared to head (d0affca) 14.80%.
Report is 5 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5333      +/-   ##
==========================================
+ Coverage   14.77%   14.80%   +0.02%     
==========================================
  Files        1663     1663              
  Lines      115155   115929     +774     
  Branches    35519    36090     +571     
==========================================
+ Hits        17012    17160     +148     
- Misses      78935    79399     +464     
- Partials    19208    19370     +162     

Flag	Coverage Δ		*Carryforward flag
differential	12.25% <58.33%> (?)
total	14.77% <ø> (-0.01%)	⬇️	Carriedforward from 0c7ef98

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

Files	Coverage Δ
...rivable_area_expansion/drivable_area_expansion.cpp	44.02% <58.33%> (+1.16%)	⬆️

... and 4 files with indirect coverage changes

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