feat(behavior_velocity_planner): use sampling functions from motion utils

[purewater0901]

Signed-off-by: yutaka purewater0901@gmail.com

Description

Replace sampling functions in behavior velocity planner with sampling functions in motion utils.

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[codecov]

Codecov Report

Merging #1520 (63fe3e7) into main (0db51f5) will increase coverage by 0.01%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1520      +/-   ##
==========================================
+ Coverage   10.62%   10.63%   +0.01%     
==========================================
  Files        1113     1113              
  Lines       78593    78639      +46     
  Branches    18424    18461      +37     
==========================================
+ Hits         8349     8363      +14     
- Misses      61516    61529      +13     
- Partials     8728     8747      +19     

Flag	Coverage Δ		*Carryforward flag
differential	4.69% <0.00%> (?)
total	10.60% <0.00%> (ø)		Carriedforward from 0db51f5

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

Impacted Files	Coverage Δ
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
...module/no_stopping_area/scene_no_stopping_area.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/scene_occlusion_spot.cpp	0.00% <0.00%> (ø)
...ocity_planner/src/utilization/path_utilization.cpp	18.18% <0.00%> (+5.21%)	⬆️

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[taikitanaka3]

LGTM

[taikitanaka3]

Note: it seems no Degradation so far with this commit using CI https://evaluation.tier4.jp/evaluation/reports?project_id=prd_jt