refactor(lane_change): refactor get_lane_change_lanes function

[zulfaqar-azmi-t4]

Description

Refactor get_lane_change_lanes function.
Two utilities functions are added;

1. to_geom_msg_pose which will create pose from lanelet points
2. is_mandatory_lane_change which list the lane change type for mandatory lane change

Related links

Parent Issue:

• Link

Compile autoware and run psim

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

Attention: Patch coverage is 37.03704% with 17 lines in your changes missing coverage. Please review.

Project coverage is 26.52%. Comparing base (4f97001) to head (195dc48).
Report is 9 commits behind head on main.

Files with missing lines	Patch %	Lines
...oware/behavior_path_planner_common/utils/utils.hpp	0.00%	7 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	42.85%	4 Missing ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	63.63%	3 Missing and 1 partial ⚠️
...e_behavior_path_planner_common/src/utils/utils.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9044      +/-   ##
==========================================
- Coverage   26.52%   26.52%   -0.01%     
==========================================
  Files        1296     1302       +6     
  Lines       95710    95743      +33     
  Branches    38984    38984              
==========================================
+ Hits        25389    25395       +6     
- Misses      67751    67777      +26     
- Partials     2570     2571       +1     

Flag	Coverage Δ		*Carryforward flag
differential	15.47% <37.03%> (?)
total	26.52% <ø> (+<0.01%)	⬆️	Carriedforward from 4f97001

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.