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fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation #43157

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fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation

fix(autoware_utils): address self-intersecting polygons in random_concave_generator and handle empty inners() during triangulation #43157

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