refactor(autoware_mpc_lateral_controller): speed up matrix calculation with sparse matrix

[kyoichi-sugahara]

Description

This PR optimizes the MPC lateral controller by introducing sparse matrix operations and vectorizing calculations for improved performance and memory efficiency.

• Sparse Matrix Implementation:
  • Replaced dense matrices (Cex, Bex, Qex, R1ex, R2ex, H, A) with Eigen::SparseMatrix, reducing memory usage and speeding up computations for large matrices.

Related links

Parent Issue:

None.

How was this PR tested?

computational cost of from generateMPCMatrix to executeOptimization function and checked with same test case.

original result:

udated result:

• run psim
• PASS TIERIVE INTERNAL SCENARIOS

None.

Interface changes

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.