fix(goal_planner): fix sudden stop and simpify process

[kosuke55]

Description

• to fix sudden stop remove

  for (auto & point : stop_path->points) {
    point.point.longitudinal_velocity_mps = 0.0;
  }

• previous stop path was incorrectly saved.
• some conditions that was not used was removed.
• refactoring

Tests performed

psim

check safety check after approval

pull_over_stop-2024-01-19_16.41.34.mp4

evaluator_description: fix/goal_planner_stop_path
2024/01/19 https://evaluation.tier4.jp/evaluation/reports/fe649661-060b-5e6d-bfa4-df534b2de755/?project_id=prd_jt
https://evaluation.tier4.jp/evaluation/reports/8d7cee06-ef13-5b5f-a6f3-dbfb603813db?project_id=prd_jt

2024/01/21 https://evaluation.tier4.jp/evaluation/reports/7f725890-6209-52ec-8939-8bee2abe54d2/?project_id=prd_jt

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 56 lines in your changes are missing coverage. Please review.

Comparison is base (4194028) 14.60% compared to head (38f1f88) 14.60%.
Report is 3 commits behind head on main.

Files	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	48 Missing ⚠️
...r_path_goal_planner_module/goal_planner_module.hpp	0.00%	7 Missing ⚠️
.../behavior_path_goal_planner_module/src/manager.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6120      +/-   ##
==========================================
- Coverage   14.60%   14.60%   -0.01%     
==========================================
  Files        1860     1860              
  Lines      127336   127344       +8     
  Branches    37275    37275              
==========================================
  Hits        18598    18598              
- Misses      87822    87830       +8     
  Partials    20916    20916              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.61% <ø> (+<0.01%)	⬆️	Carriedforward from 4194028

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[kyoichi-sugahara]

LGTM!