test: behavior path obstacle avoidance (autowarefoundation#6972)

* write test for behavior avoidance

Signed-off-by: Go Sakayori <gsakayori@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: Go Sakayori <gsakayori@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: vividf <yihsiang.fang@tier4.jp>

Author: 2 people

planning/behavior_path_avoidance_module/test/test_utils.cpp

@@ -21,6 +21,7 @@
 using behavior_path_planner::ObjectData;
 using behavior_path_planner::utils::avoidance::isOnRight;
 using behavior_path_planner::utils::avoidance::isSameDirectionShift;
+using behavior_path_planner::utils::avoidance::isShiftNecessary;
 
 TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest)
 {
@@ -37,3 +38,19 @@ TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest)
   ASSERT_TRUE(isSameDirectionShift(isOnRight(left_obj), positive_shift_length));
   ASSERT_FALSE(isSameDirectionShift(isOnRight(left_obj), negative_shift_length));
 }
+
+TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftNecessaryTest)
+{
+  ObjectData right_obj;
+  right_obj.direction = route_handler::Direction::RIGHT;
+  const double negative_shift_length = -1.0;
+  const double positive_shift_length = 1.0;
+
+  ASSERT_TRUE(isShiftNecessary(isOnRight(right_obj), positive_shift_length));
+  ASSERT_FALSE(isShiftNecessary(isOnRight(right_obj), negative_shift_length));
+
+  ObjectData left_obj;
+  left_obj.direction = route_handler::Direction::LEFT;
+  ASSERT_TRUE(isShiftNecessary(isOnRight(left_obj), negative_shift_length));
+  ASSERT_FALSE(isShiftNecessary(isOnRight(left_obj), positive_shift_length));
+}