feat(osqp_interface): add warm startup interface

[purewater0901]

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

Description

Add warm startup interface to the osqp interface module to enable it to set primal and dual variables.

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[codecov]

Codecov Report

Base: 10.84% // Head: 10.87% // Increases project coverage by +0.03% 🎉

Coverage data is based on head (5993b3c) compared to base (89fef41).
Patch coverage: 31.64% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2180      +/-   ##
==========================================
+ Coverage   10.84%   10.87%   +0.03%     
==========================================
  Files        1178     1178              
  Lines       84780    84872      +92     
  Branches    19952    20021      +69     
==========================================
+ Hits         9196     9233      +37     
- Misses      65879    65894      +15     
- Partials     9705     9745      +40     

Flag	Coverage Δ		*Carryforward flag
differential	11.21% <15.68%> (?)
total	10.82% <46.34%> (ø)		Carriedforward from 3d0ad89

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

Impacted Files	Coverage Δ
...nterface/include/osqp_interface/osqp_interface.hpp	0.00% <0.00%> (ø)
common/osqp_interface/test/test_osqp_interface.cpp	15.00% <9.09%> (-2.25%)	⬇️
common/osqp_interface/src/osqp_interface.cpp	39.67% <41.81%> (+4.28%)	⬆️

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[maxime-clem]

The code looks good but can you add a few tests for the new functions ?
It would also be interesting to have an example with/without warm start to compare the results.

[purewater0901]

@maxime-clem How do I test my code? Do you have any suggestions?

[maxime-clem]

@maxime-clem How do I test my code? Do you have any suggestions?

You can either extend the existing test (https://github.com/autowarefoundation/autoware.universe/blob/3d0ad89aaa27072a1a7a16598953522fbdf3b90e/common/osqp_interface/test/test_osqp_interface.cpp) or add a new one.
You can probably just copy the test from https://github.com/osqp/osqp/blob/5a04cc6a8e4d6f3bb8093837a7ddaa9ece741a94/tests/basic_qp/test_basic_qp.h#L845

[purewater0901]

@maxime-clem I just added a test to the file. Could you check it please?

[maxime-clem]

This PR looks good. Thank you for adding the test.