feat(autoware_trajectory): update autoware_trajectory interfaces

[yhisaki]

Description

This PR contains many changes, but the major changes are described in the following list.

• Move key functions from member to external.

  • before

    double s = trajectory.closest(p);

  • after

    double s = utils::closest(trajectory, p);

• Add shift function

  autoware::trajectory::ShiftInterval shift_interval1;
  shift_interval1.start = trajectory->length() / 4.0;
  shift_interval1.end = trajectory->length() * 2.0 / 4.0;
  shift_interval1.length = 0.5;
  
  autoware::trajectory::ShiftInterval shift_interval2;
  shift_interval2.start = trajectory->length() * 2.0 / 4.0;
  shift_interval2.end = trajectory->length() * 3.0 / 4.0;
  shift_interval2.length = -0.5;
  
  auto shifted_trajectory =
    autoware::trajectory::shift(*trajectory, {shift_interval1, shift_interval2});    

  

• Add find_intervals function

  const std::vector<autoware::trajectory::Interval> intervals =
    autoware::trajectory::find_intervals(
      *trajectory, [](const tier4_planning_msgs::msg::PathPointWithLaneId & point) {
        return point.lane_ids[0] == 1;
      });  

  

• And some style changes...

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[takayuki5168]

add const

[codecov]

Codecov Report

Attention: Patch coverage is 37.93103% with 216 lines in your changes missing coverage. Please review.

Project coverage is 29.75%. Comparing base (8b0b9a7) to head (eb03048).
Report is 32 commits behind head on main.

Files with missing lines	Patch %	Lines
common/autoware_trajectory/src/utils/shift.cpp	0.00%	94 Missing ⚠️
common/autoware_trajectory/src/pose.cpp	10.71%	25 Missing ⚠️
common/autoware_trajectory/src/point.cpp	35.13%	24 Missing ⚠️
common/autoware_trajectory/src/path_point.cpp	36.36%	21 Missing ⚠️
common/autoware_trajectory/src/detail/types.cpp	20.00%	16 Missing ⚠️
.../autoware/trajectory/detail/interpolated_array.hpp	20.00%	6 Missing and 2 partials ⚠️
common/autoware_trajectory/src/utils/crossed.cpp	66.66%	2 Missing and 5 partials ⚠️
common/autoware_trajectory/src/detail/logging.cpp	0.00%	6 Missing ⚠️
...utoware_trajectory/src/path_point_with_lane_id.cpp	76.19%	5 Missing ⚠️
common/autoware_trajectory/src/utils/closest.cpp	84.21%	1 Missing and 2 partials ⚠️
... and 4 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10034      +/-   ##
==========================================
- Coverage   29.78%   29.75%   -0.03%     
==========================================
  Files        1436     1451      +15     
  Lines      108308   108544     +236     
  Branches    42956    43016      +60     
==========================================
+ Hits        32256    32301      +45     
- Misses      72920    73105     +185     
- Partials     3132     3138       +6     

Flag	Coverage Δ		*Carryforward flag
differential	14.95% <37.93%> (?)
total	29.71% <ø> (-0.07%)	⬇️	Carriedforward from 8b0b9a7

*This pull request uses carry forward flags. Click here to find out more.

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