Block rollouts that cut through undrivable area

[blabla-my]

Hello, maintainers of OpenPlanner.

As discussed in hatem-darweesh/autoware.ai.openplanner#6, rollouts that cut through undrivable areas are not filtered out, leading the ego vehicle driving towards unexpected regions. This PR aims at solving this problem.

The approach is described as follows:

1. Enable load_wayarea in VectorMapLoader to load wayareas from wayarea.csv.
2. In TrajectoryEvaluator::doOneStep, check every waypoint of every generated rollout to find if it is not inside the drivable area. If so, block the rollout.

The approach is optional. A parameter named enableBlockingRolloutsOutOfMap can be set true to enable this mechanism.

Note: To fully implement this approach, I also send a PR to the core_planning repo, linked here: hatem-darweesh/core_planning#18

[blabla-my]

Hello @hatem-darweesh ,

This PR has not received a response for a long time, and I want to confirm if this solution is acceptable. If it is not, I kindly request your advice.

Thanks for your attention.

[xsmeiwu]

能否把你的修改的代码发我一下，我的工程里面也需要有这个功能！邮箱[email protected],微信18629141183