feat(avoidance): margin can be set independently for each class

[satoshi-ota]

Description

margin can be set independently for each class

autowarefoundation/autoware.universe#3002

Tests performed

        pedestrian:
          enable: true
          envelope_buffer_margin: 0.8
          safety_buffer_lateral: 1.0
          safety_buffer_longitudinal: 1.0

        bus:
          enable: true
          envelope_buffer_margin: 0.3
          safety_buffer_lateral: 0.7
          safety_buffer_longitudinal: 0.0

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.