feat(perception): simplified configuration for perception index

[kschrab]

Description

Simplifies the configuration of perception indexes.

old config:

{
    "perceptionConfiguration": {
        "vehicleIndex": {
            "type": "VehicleTree",
            "splitSize": 10,
            "maxDepth": 2
        },
        "trafficLightIndex": {
            "type": "TrafficLightTree"
        },
        "wallIndex": {
            "type": "WallTree"
        }
    }
}

new config:

{
    "perceptionConfiguration": {
        "vehicleIndex": {
            "enabled": true,
            "type": "tree",
            "splitSize": 10,
            "maxDepth": 2
        },
        "trafficLightIndex": {
            "enabled": true
        },
        "wallIndex": {
            "enabled": true
        }
    }
}

For a simple configuration with default values this can be used:

{
    "perceptionConfiguration": {
        "vehicleIndex": {
            "enabled": true
        },
        "trafficLightIndex": {
            "enabled": true
        },
        "wallIndex": {
            "enabled": true
        }
    }
}

• Naive implementations based on for-loops have been removed completely. Instead tree-based implementations are used per default.
• Configuration classes do not interfere with index implementations anymore.
• Vehicle index is still exchangeable by choosing between "tree", "grid", or "sumo" implementation.
• All index implementations can be enabled/disabled per config. They are all disabled per default.
• Performance measurement option has been removed.
• Barnim is provided with a example application_config.json showcasing the simple perception configuration.
• Use parametrized test instead of repeating test methods in SimplePerceptionModuleTest

Issue(s) related to this PR

• Resolves internal issue #586

Affected parts of the online documentation

Changes in the documentation required?

Yes, will be provided with a separate merge request.

Definition of Done

Prerequisites

• You have read CONTRIBUTING.md carefully.
• You have signed the Contributor License Agreement.
• Your GitHub user id is linked with your Eclipse Account.

Required

• The title of this merge request follows the scheme type(scope): description (in the style of Conventional Commits)
• You have assigned a suitable label to this pull request (e.g., enhancement, or bugfix)
• origin/main has been merged into your Fork.
• Coding guidelines have been followed (see CONTRIBUTING.md).
• All checks on GitHub pass.
• All tests on Jenkins pass.

Requested (can be enforced by maintainers)

• New functionality is covered by unit tests or integration tests. Code coverage must not decrease.
• If a bug has been fixed, a new unit test has been written (beforehand) to prove misbehavior
• There are no new SpotBugs warnings.

Special notes to reviewer

[schwepmo]

Overall a good quality of life improvement. I added some suggestions and discussions.