refactor(vehicle_tracker): enhance bounding box orientation logic in conditionedUpdate

- Updated the logic in the `conditionedUpdate` method to ensure that the bounding box orientation is correctly handled for cluster measurements.
- Improved the condition for aligning the cluster to the tracker's orientation by checking for polygon shape type and non-empty footprint points.

These changes aim to enhance the accuracy of the vehicle tracking system's update strategy.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/autoware_multi_object_tracker/lib/tracker/model/vehicle_tracker.cpp

@@ -367,11 +367,12 @@ bool VehicleTracker::conditionedUpdate(
   const autoware_perception_msgs::msg::Shape & tracker_shape, const rclcpp::Time & measurement_time,
   const types::InputChannel & channel_info)
 {
-  // For cluster measurements (trust_extension=false), the bounding box orientation is in baselink
-  // frame. Re-project the polygon footprint onto the tracker's current heading so that
+  // For cluster measurements, the bounding box orientation is in baselink frame.
+  // Re-project the polygon footprint onto the tracker's current heading so that
   // determineUpdateStrategy receives correctly-oriented edge centers.
   const types::DynamicObject & meas_for_strategy =
-    (!channel_info.trust_extension && !measurement.shape.footprint.points.empty())
+    ((measurement.shape.type == autoware_perception_msgs::msg::Shape::POLYGON) &&
+     !measurement.shape.footprint.points.empty())
       ? alignClusterToTrackerOrientation(measurement, motion_model_.getYawState())
       : measurement;