Fixes smac planner non-circular footprint search issue (backport #4851)

[mergify]

Resolves #4808 and #4314

The optimization was added to allow non-circular robots to use their full footprint costs in the traversibility function and heuristic function formulations. However, in confined settings, it doesn't work very well and its better to collision check using the full footprint but continue to use the center point costs for the traversal function / heuristic function formulations.

Metrics outlined in #4808 (comment) show that this not only fixes the issue but also doesn't impact speeds in open areas - but faster in confined areas due to the ambiguation of inscribed costs.

TODO

• benchmark
• backport

  ---

  This is an automatic backport of pull request Fixes smac planner non-circular footprint search issue #4851 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   nav2_smac_planner/include/nav2_smac_planner/collision_checker.hpp
	modified:   nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
	modified:   nav2_smac_planner/test/test_collision_checker.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   nav2_smac_planner/src/collision_checker.cpp
	both modified:   nav2_smac_planner/src/node_hybrid.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[mergify]

@mergify[bot], all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.