* Updated pedestrian predictor

* Added publish prediction header

* formalized function names in dp_st_speed graph and cost.

* added num of points in smoother config proto.

After change, the smoother will smooth any given reference line without truncate.
The behavior will be more transparent behavior.

* push test

* push test

* add hm tracker

* update hm tracker code style

* not a useful base class
* confusing with hdmap path.h

* add unit test for lidar_process, and fix merge conflict

* fix merge conflict

* remove the comment of hdmap

* modify hdmap interface, and add unit test for hdmap_input

* modify perception config file

the problem is because LaneWaypoint is not set in hdmap::Path.
fixed the broken unit tests

* add velodyne driver

* modify some param

reference https://stackoverflow.com/questions/34856092/gdb-does-not-hit-any-breakpoints-when-i-run-it-from-inside-docker-container