fix(autoware_planning_evaluator): sort predicted paths (autowarefoundation#12034)

fix predicted path sorting bug

Signed-off-by: Kem (TiankuiXian) <temkei.kem@tier4.jp>

Author: xtk8532704

evaluator/autoware_planning_evaluator/src/obstacle_metrics_calculator.cpp

@@ -246,8 +246,12 @@ void ObstacleMetricsCalculator::ProcessObstaclesTrajectory()
           obstacle_trajectory_points_.emplace_back(obstacle_pose, obstacle_velocity, ego_time, 0.0);
         }
       } else {
-        // Create obstacle trajectory points based on the predicted path.
-        const auto & obstacle_path = object.kinematics.predicted_paths.front().path;
+        // Create obstacle trajectory points based on the predicted path with highest confidence.
+        const auto & predicted_paths = object.kinematics.predicted_paths;
+        auto max_confidence_iter = std::max_element(
+          predicted_paths.begin(), predicted_paths.end(),
+          [](const auto & a, const auto & b) { return a.confidence < b.confidence; });
+        const auto & obstacle_path = max_confidence_iter->path;
 
         // initialize reference point and the point right after next reference point. Here
         // `reference_point` is the point right before the current ego trajectory point.