refactor(map_based_prediction): to improve readability. Possibly (unl…

…ikely) performance improvements (#5261)

* refactor to improve readability. Possibly (unlikely) performance

Signed-off-by: Daniel Sanchez <[email protected]>

* Use ternary operator to make the code more readable

Signed-off-by: Daniel Sanchez <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>

* Add const to curr lanelets and pred. object crosswalk

Signed-off-by: Daniel Sanchez <[email protected]>

* remove redundant breaks in switch table

Signed-off-by: Daniel Sanchez <[email protected]>

* change magic numbers to autoware function kph -> mps

Signed-off-by: Daniel Sanchez <[email protected]>

* simplify code by returning on false condition, change ifelse to switch

Signed-off-by: Daniel Sanchez <[email protected]>

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Signed-off-by: Daniel Sanchez <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>