Planning: provide method to amortize reference line smoothing time to multiple planning cycles. Planning time can be reduced to 40 - 80 ms/cycle.

Planning: fixed a search range issue from finite element method in dp_st_graph. added kappa check in constraint check for informative purpose.

* onboard test found that CPU workload is significantly larger with the
latest ros version

qp_spline_path for safety. Changed enable_trajectory_check to true in default but do
not fail even if trajectory does not pass the check.

* fixed reported bug

* cleaned comments & remove unused variables

* set default matcher name before create it

* modifed a ambigous method name

* use small cached size

* perception/lidar/common bug fix

* fix coding style

Planning: removed low velocity threshold. Planning will report the idea trajectory and control will set a cut off number in its own algorithm.

This reverts commit f9d8e733.

* clean hm tracker VI

* upgrade breakdown probabilisticly

* clean hm tracker VII

Planning: added initial definitions of reference line provider. This class will run in a seperate thread and smooth reference lines, so that the time cost for reference line smoother can be amortized to each planning cycle.