refactor(behavior_path_planner): use to polygon2d function

[purewater0901]

Description

Use toPolygon2d function in the behavior path planner module

Tests performed

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (90ed30d) 12.39% compared to head (3c3449c) 12.40%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3258   +/-   ##
=======================================
  Coverage   12.39%   12.40%           
=======================================
  Files        1364     1364           
  Lines       95264    95205   -59     
  Branches    27078    27058   -20     
=======================================
  Hits        11809    11809           
+ Misses      71031    70972   -59     
  Partials    12424    12424           

Flag	Coverage Δ		*Carryforward flag
differential	5.54% <0.00%> (?)
total	12.40% <ø> (+0.01%)	⬆️	Carriedforward from 90ed30d

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

Impacted Files	Coverage Δ
control/autonomous_emergency_braking/src/node.cpp	0.00% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	83.33% <ø> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...ehavior_path_planner/src/util/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	7.87% <0.00%> (+0.30%)	⬆️
...er/include/scene_module/scene_module_interface.hpp	0.00% <ø> (ø)

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.