Feat/v0.29.0 2/mult obj tracker updates

[TadaKazuto]

Description

Update sanitization(prune) process to fix the issue of temp lost for a laying adult found in LSim perception test

ソート更新：
Known objects(NO-UNKNOWN objs)かどうかを第一条件、meas timeを第二条件としてソートすることで、tracking objの削除が発生する場合は、”必ずインデックスの小さい方が大きい方を消す”ようにして、forループ以後の処理を単純化。
更に第三条件として、meas 最終updateからの経過時間の小さいという条件を加えることで、area threshの制限等でassociation処理で関連付けできなかったobjに対して、無駄に100ms周期でどんどんspawnされるものを消せるように改善
(
Added sorting concept:
By sorting with known objects (NO-UNKNOWN objs) as the first condition and mean time as the second condition, when a tracking obj is deleted, the smaller index will always delete the larger one, so that simplifying the processing after the for loop.
Furthermore, by adding a third condition of checking the elapsed time since the last meas update, it is possible to eliminate the unnecessary spawning at 100ms intervals for obj that could not be associated by the association process due to area thresh restrictions, or etc.
)

Related links

#1903 (comment)

Parent Issue:

• Link

How was this PR tested?

LSim Regression result shows some improvemtns.
Total Pass Number: 207->223 (Total 740)
Total Score: 0.57->0.58 (Max->1.0)

Perception Result Summary

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[sonarqubecloud]

Quality Gate passed

Issues
5 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud