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chore: cherry-pick/10235 #1906

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Description

cherry-pick

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…gen::Vector3d for state representation (autowarefoundation#10235)

* fix(autoware_mpc_lateral_controller): replace Eigen::VectorXd with Eigen::Vector3d for state representation

Signed-off-by: kyoichi-sugahara <[email protected]>

* docs(autoware_mpc_lateral_controller): update comments for state representation and discretization considerations

Signed-off-by: kyoichi-sugahara <[email protected]>

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Signed-off-by: kyoichi-sugahara <[email protected]>
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