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Apply backward waypoints to waypoint_replanner

Yuma Nihei requested to merge yn-mrse/core_planning:feature/waypoint_replanner/backward_driving into master

Fixed bug

Fixed functions calculating the posture of waypoints in waypoint_replanner.

Related issue is #8 (closed) .

Description of the bug

In functions for resampling waypoints in straight path, a positive direction is output regardless of the direction of the original waypoints. (The curve path is already supported.)

Expected behavior

The posture of each waypoint should be almost the same as the posture of the vehicle as it passes through each waypoint.

Actual behavior

When backward waypoints is input in the resample mode, the posture may be reversed at a specific waypoint.

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