Fix logic with enforcing constrained planning state space (backport #1589)

[mergify]

This is an automatic backport of pull request #1589 done by Mergify.

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[codecov]

Codecov Report

Base: 51.01% // Head: 51.01% // No change to project coverage 👍

Coverage data is based on head (b39400e) compared to base (74d5e87).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@           Coverage Diff           @@
##           humble    #1641   +/-   ##
=======================================
  Coverage   51.01%   51.01%           
=======================================
  Files         381      381           
  Lines       31787    31787           
=======================================
  Hits        16214    16214           
  Misses      15573    15573           

Impacted Files	Coverage Δ
...pl/ompl_interface/src/planning_context_manager.cpp	54.37% <0.00%> (ø)

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