feat(trajectory_safety_filter): boundary departure prevention filter with diagnostics #2160

Job	Run time
require-label / require-label	2s
build-and-test-differential / build-and-test-differential	1h 1m 30s
check-if-cuda-job-is-needed	20s
build-and-test-packages-above-differential / build-and-test-packages-above-differential	2m 9s
build-and-test-differential-cuda / build-and-test-differential	-1s
clang-tidy-differential-cuda / clang-tidy-differential	0s
clang-tidy-differential / clang-tidy-differential	4m 29s
	1h 8m 29s

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