refactor(lane_change): add new structs (TransientData) to store commonly used values

[zulfaqar-azmi-t4]

Description

This PR adds TransientData to standardize commonly used values in the lane change module, such as the current lanes' buffer and the distance to the terminal start and end. The goal is to ensure consistency when calculating limits and lengths.

Related links

Parent Issue:

• None

How was this PR tested?

1. Build complete
2. PSIM
3. Scenario Test TBD

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[mkquda]

Just curious why did you add the next LC buffer here?

[zulfaqar-azmi-t4]

I'm making an assumption that we want to do more than 1 lane changes. This is assuming that the end point of current and target lane align with each other.

Additional note: some additional fix is needed if the end point is not aligned.

[mkquda]

but isn't this covered by the check here

[maxime-clem]

(minor) I think you can do something like this which is a bit easier to read.

Suggested change

	const auto lc_length_and_dist_buffer =
	utils::lane_change::calculation::calc_lc_length_and_dist_buffer(
	common_data_ptr_, get_current_lanes());
	return std::get<1>(lc_length_and_dist_buffer).min;
	const auto [_, dist_buffer] =
	utils::lane_change::calculation::calc_lc_length_and_dist_buffer(
	common_data_ptr_, get_current_lanes());
	return dist_buffer.min;

[maxime-clem]

If I understand the code correctly, the new return value in case current_lanes is empty is 0 compared to infinity() previously. Is this okay ?

• the calc_lc_length_and_dist_buffer() returns {} when lanes is empty.
• {} uses the default constructor of pair which uses the default constructor of Boundary which sets min = 0.0.

[maxime-clem]

I think you can do something like that:

Suggested change

	const auto acc_boundary = calcCurrentMinMaxAcceleration();
	transient_data.acc.min = std::get<0>(acc_boundary);
	transient_data.acc.max = std::get<1>(acc_boundary);
	std::tie(transient_data.acc.min, transient_data.acc.max) = calcCurrentMinMaxAcceleration();

or are they the same type ? In which case:

Suggested change

	const auto acc_boundary = calcCurrentMinMaxAcceleration();
	transient_data.acc.min = std::get<0>(acc_boundary);
	transient_data.acc.max = std::get<1>(acc_boundary);
	transient_data = calcCurrentMinMaxAcceleration();