test(autoware_behavior_path_start_planner_module): add unit tests for geometric shift pull out planner

[kyoichi-sugahara]

Description

1. Added test environment for autoware_behavior_path_start_planner_module
2. Added TestGeometricPullOut as a friend class to GeometricPullOut class
   • Enabled access to private members from the test class
3. Added null check for dynamic objects in PullOutPlannerBase::isPullOutPathCollided method
   • Returns false when dynamic_objects is null
   • Prevents crashes in situations where dynamic objects do not exist

Related links

Parent Issue:

• Link

How was this PR tested?

run colcon test with following command

colcon test --event-handlers console_cohesion+ --packages-select autoware_behavior_path_start_planner_module

get the success result

1: [----------] Global test environment set-up.
1: [----------] 1 test from TestGeometricPullOut
1: [ RUN      ] TestGeometricPullOut.GenerateValidGeometricPullOutPath
1: [INFO 1733912210.143215592] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 4618 4635 ] (getMainLanelets():2025)
1: primitive: 4618
1: preferred_primitive id : 4618
1: primitive: 4635
1: primitive: 7787
1: preferred_primitive id : 4635
1: [       OK ] TestGeometricPullOut.GenerateValidGeometricPullOutPath (473 ms)
1: [----------] 1 test from TestGeometricPullOut (473 ms total)

Notes for reviewers

This PR should be merged before this PR.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[kosuke55]

thanks! LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 29.85%. Comparing base (2127ca8) to head (8018342).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...start_planner_module/src/pull_out_planner_base.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9640      +/-   ##
==========================================
+ Coverage   29.57%   29.85%   +0.27%     
==========================================
  Files        1440     1445       +5     
  Lines      108348   108406      +58     
  Branches    41384    42493    +1109     
==========================================
+ Hits        32049    32360     +311     
+ Misses      73190    72930     -260     
- Partials     3109     3116       +7     

Flag	Coverage Δ		*Carryforward flag
differential	6.95% <0.00%> (?)
total	29.57% <ø> (ø)		Carriedforward from a921f8b

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