feat(tier4_autoware_utils): add point interpolation function

[purewater0901]

Description

Add point interpolation function to tier4_autoware_utils.

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Tests performed

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[codecov]

Codecov Report

Merging #1100 (19cc4b1) into main (373c91a) will decrease coverage by 0.02%.
The diff coverage is 40.00%.

@@           Coverage Diff            @@
##            main   #1100      +/-   ##
========================================
- Coverage   9.02%   9.00%   -0.03%     
========================================
  Files       1025    1025              
  Lines      69477   69834     +357     
  Branches   11725   11790      +65     
========================================
+ Hits        6271    6289      +18     
- Misses     58001   58324     +323     
- Partials    5205    5221      +16     

Flag	Coverage Δ		*Carryforward flag
differential	9.28% <40.00%> (?)
total	8.96% <ø> (-0.05%)	⬇️	Carriedforward from 1d0bdc7

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

Impacted Files	Coverage Δ
...include/tier4_autoware_utils/geometry/geometry.hpp	92.00% <ø> (ø)
...autoware_utils/test/src/geometry/test_geometry.cpp	37.19% <40.00%> (+0.07%)	⬆️
planning/behavior_path_planner/src/utilities.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/scene_module/pull_out/util.cpp	0.00% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	0.00% <0.00%> (ø)
...nodes/costmap_generator/costmap_generator_node.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)
.../scenario_selector_node/scenario_selector_node.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
... and 2 more

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[takayuki5168]

@purewater0901 Where do you think we will use this function in the application. Usually, we use Pose which includes orientation.

[takayuki5168]

LGTM