feat(tier4_autoware_utils): add pose interpolation function

[purewater0901]

Signed-off-by: yutaka purewater0901@gmail.com

Description

Add geometry pose interpolation function to tier4 autoware utils

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Tests performed

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[codecov]

Codecov Report

Merging #1097 (f65af81) into main (785c8d6) will increase coverage by 0.04%.
The diff coverage is 59.61%.

@@           Coverage Diff            @@
##            main   #1097      +/-   ##
========================================
+ Coverage   8.98%   9.02%   +0.04%     
========================================
  Files       1024    1025       +1     
  Lines      69430   69484      +54     
  Branches   11697   11721      +24     
========================================
+ Hits        6238    6272      +34     
  Misses     58008   58008              
- Partials    5184    5204      +20     

Flag	Coverage Δ		*Carryforward flag
differential	9.27% <59.61%> (?)
total	8.96% <ø> (ø)		Carriedforward from 785c8d6

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

Impacted Files	Coverage Δ
...autoware_utils/test/src/geometry/test_geometry.cpp	37.11% <50.00%> (+1.74%)	⬆️
...include/tier4_autoware_utils/geometry/geometry.hpp	92.00% <100.00%> (+1.37%)	⬆️
...lude/tier4_autoware_utils/math/unit_conversion.hpp	100.00% <0.00%> (ø)
...planning_evaluator/src/planning_evaluator_node.cpp	38.14% <0.00%> (+1.03%)	⬆️

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[takayuki5168]

LGTM