fix(planning_validator): calculate max lateral acceleration after resampling trajectory (autowarefoundation#6679) (#1213)

fix(planning_validator): calculate max lateral acceleration after resampling trajectory (autowarefoundation#6679)

fix planning validator calc max lat acc after resampling

Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
Co-authored-by: kaigohirao <127086108+kaigohirao@users.noreply.github.com>

Author: TomohitoAndo

planning/planning_validator/src/planning_validator.cpp

@@ -260,7 +260,6 @@ void PlanningValidator::validate(const Trajectory & trajectory)
 
   s.is_valid_finite_value = checkValidFiniteValue(trajectory);
   s.is_valid_interval = checkValidInterval(trajectory);
-  s.is_valid_lateral_acc = checkValidLateralAcceleration(trajectory);
   s.is_valid_longitudinal_max_acc = checkValidMaxLongitudinalAcceleration(trajectory);
   s.is_valid_longitudinal_min_acc = checkValidMinLongitudinalAcceleration(trajectory);
   s.is_valid_velocity_deviation = checkValidVelocityDeviation(trajectory);
@@ -273,6 +272,7 @@ void PlanningValidator::validate(const Trajectory & trajectory)
 
   s.is_valid_relative_angle = checkValidRelativeAngle(resampled);
   s.is_valid_curvature = checkValidCurvature(resampled);
+  s.is_valid_lateral_acc = checkValidLateralAcceleration(resampled);
   s.is_valid_steering = checkValidSteering(resampled);
   s.is_valid_steering_rate = checkValidSteeringRate(resampled);