fix(obstacle stop/slow_down): early return without point cloud

[takayuki5168]

Description

The obstacle_stop and obstacle_slow_down modules without point cloud were very heavy since the point cloud processing was not skipped.
This PR returns early without the point cloud processing when the point cloud is disabled.

TODO: With another PR, the heavy calculation of the point cloud processing should be handled.

before:

⏰ Worst Case Execution Time ⏰
100.00% plan: total 90.28 [ms], avg. 90.28 [ms], run count: 1
    ├── 6.85% filter_stop_obstacle_for_predicted_object: total 6.18 [ms], avg. 6.18 [ms], run count: 1
    │   ├── 6.84% for_each_object: total 6.18 [ms], avg. 1.54 [ms], run count: 4
    │   │   ├── 3.26% get_decimated_traj_polys: total 2.94 [ms], avg. 2.94 [ms], run count: 1
    │   │   ├── 3.31% get_dist_to_traj_poly: total 2.99 [ms], avg. 2.99 [ms], run count: 1
    │   │   ├── 0.01% filter_inside_stop_obstacle_for_predicted_object: total 0.01 [ms], avg. 0.01 [ms], run count: 1
    │   │   ├── 0.01% filter_outside_stop_obstacle_for_predicted_object: total 0.01 [ms], avg. 0.01 [ms], run count: 1
    │   │   └── 0.24% rest: 0.22 [ms]
    │   ├── 0.00% check_consistency: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    │   └── 0.01% rest: 0.01 [ms]
    ├── 91.06% filter_stop_obstacle_for_point_cloud: total 82.20 [ms], avg. 82.20 [ms], run count: 1
    │   ├── 90.04% convert_point_cloud_to_stop_points: total 81.29 [ms], avg. 81.29 [ms], run count: 1
    │   └── 1.01% rest: 0.91 [ms]
    ├── 0.02% plan_stop: total 0.02 [ms], avg. 0.02 [ms], run count: 1
    ├── 1.51% publish_debug_info: total 1.37 [ms], avg. 1.37 [ms], run count: 1
    └── 0.56% rest: 0.51 [ms]

after:

⏰ Worst Case Execution Time ⏰
100.00% plan: total 8.13 [ms], avg. 8.13 [ms], run count: 1
    ├── 87.41% filter_stop_obstacle_for_predicted_object: total 7.10 [ms], avg. 7.10 [ms], run count: 1
    │   ├── 87.30% for_each_object: total 7.09 [ms], avg. 1.77 [ms], run count: 4
    │   │   ├── 27.96% get_decimated_traj_polys: total 2.27 [ms], avg. 0.57 [ms], run count: 4
    │   │   ├── 53.38% get_dist_to_traj_poly: total 4.34 [ms], avg. 1.08 [ms], run count: 4
    │   │   ├── 0.21% filter_inside_stop_obstacle_for_predicted_object: total 0.02 [ms], avg. 0.00 [ms], run count: 4
    │   │   ├── 0.34% filter_outside_stop_obstacle_for_predicted_object: total 0.03 [ms], avg. 0.01 [ms], run count: 4
    │   │   └── 5.40% rest: 0.44 [ms]
    │   ├── 0.01% check_consistency: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    │   └── 0.10% rest: 0.01 [ms]
    ├── 0.01% filter_stop_obstacle_for_point_cloud: total 0.00 [ms], avg. 0.00 [ms], run count: 1
    ├── 0.21% plan_stop: total 0.02 [ms], avg. 0.02 [ms], run count: 1
    ├── 3.77% publish_debug_info: total 0.31 [ms], avg. 0.31 [ms], run count: 1
    └── 8.60% rest: 0.70 [ms]

Related links

How was this PR tested?

psim

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[takayuki5168]

Note: The parameter was duplicated.

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 8 lines in your changes missing coverage. Please review.

Project coverage is 26.04%. Comparing base (e69b61d) to head (5d79a8e).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...slow_down_module/src/obstacle_slow_down_module.cpp	0.00%	4 Missing ⚠️
..._obstacle_stop_module/src/obstacle_stop_module.cpp	0.00%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10289      +/-   ##
==========================================
- Coverage   26.04%   26.04%   -0.01%     
==========================================
  Files        1375     1375              
  Lines      106439   106465      +26     
  Branches    40902    40901       -1     
==========================================
  Hits        27726    27726              
- Misses      76009    76035      +26     
  Partials     2704     2704              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	26.05% <ø> (+<0.01%)	⬆️	Carriedforward from b1aab08

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

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[PanConChicharron]

LGTM