feat(interpolation): add functions for flexible usage (non-static spline interpolation)

[takayuki5168]

Related Issue(required)

#350

Description(required)

• implemented non-static spline interpolation with class
  example 1

SplineInterpolation spline;
spline.calcSplineCoefficients(base_keys, base_values);  // memorize pre-interpolation result
internally
const auto interpolation_result1 = spline.getSplineInterpolatedValues(base_keys,
query_keys1);
const auto interpolation_result2 = spline.getSplineInterpolatedValues(base_keys,
query_keys2);

example 2

SplineInterpolationPoints2d spline;
spline.calcSplineCoefficients(base_keys, base_values);  // memorize pre-interpolation result internally
const auto interpolation_result1 = spline.getSplineInterpolatedPoints(base_keys,
query_keys1);
const auto interpolation_result2 = spline.getSplineInterpolatedPoints(idx, s);
const auto yaw_interpolation_result = spline.getSplineInterpolatedYaws(idx, s);

• implemented static yaw interpolation from points

yaw_vec = interpolation::slerpYawFromPoints(points);

FYI, conventional usage (calculate spline interpolation every slerp execution)

const auto interpolation_result1 = interpolation::slerp(base_keys, base_values, query_keys1);
const auto interpolation_result2 = interpolation::slerp(base_keys, base_values, query_keys2);

• added test for new functions
• minor refactoring

Review Procedure(required)

run test

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[takayuki5168]

I created the following PR with awf/'s branch wrong. So I created another PR with tier4's one.
#352

[takayuki5168]

[takayuki5168]

spline interpolation classes (SplineInterpolation1d, SplineInterpolationPoint2d) use some common functions like getSplineCoefficients, getSplineInterpolatedValues.
I think we do not have to write a test for these common functions (and of course I do not want to write more tests), so I put them in anonymous namespace, and put all spline interpolation classes in the same file.

What do you think? Should I add a test for common functions to put SplineInterpolationPoint2d in another file?

[takayuki5168]

As Horibe-san pointed, SplineInterpolationPoint2d may not be propper. But Path2d seems like interpolation for path points (not trajectory points or other types' points)
This class does not depend on any types like Path, so how about SplineInterpolation"Points2d"?

[takayuki5168]

@TakaHoribe

[takayuki5168]

I could seperated them, and created spline_interpolation_points_2d.hpp. How about this change?
https://github.com/autowarefoundation/autoware.universe/blob/a683cc0b430221aad789e06c5843397a65bad5f6/common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp

[TakaHoribe]

LGTM!

[codecov]

Codecov Report

Merging #379 (9df8d7f) into tier4/proposal (a9c47ef) will increase coverage by 1.47%.
The diff coverage is 39.40%.

@@                Coverage Diff                 @@
##           tier4/proposal     #379      +/-   ##
==================================================
+ Coverage            9.30%   10.77%   +1.47%     
==================================================
  Files                 701      180     -521     
  Lines               48911    18242   -30669     
  Branches             5807     2675    -3132     
==================================================
- Hits                 4549     1965    -2584     
+ Misses              40551    14416   -26135     
+ Partials             3811     1861    -1950     

Impacted Files	Coverage Δ
...ion/include/interpolation/spline_interpolation.hpp	28.57% <ø> (ø)
...nterpolation/test/src/test_interpolation_utils.cpp	20.40% <18.18%> (+4.12%)	⬆️
...terpolation/test/src/test_spline_interpolation.cpp	26.15% <23.25%> (-5.67%)	⬇️
...terpolation/src/spline_interpolation_points_2d.cpp	54.38% <54.38%> (ø)
common/interpolation/src/spline_interpolation.cpp	59.42% <62.50%> (-1.60%)	⬇️
...tion/include/interpolation/interpolation_utils.hpp	58.62% <63.63%> (+2.09%)	⬆️
...e/interpolation/spline_interpolation_points_2d.hpp	100.00% <100.00%> (ø)
common/interpolation/src/linear_interpolation.cpp	64.28% <100.00%> (+2.74%)	⬆️
...anner/src/scene_module/occlusion_spot/geometry.cpp	0.00% <0.00%> (-56.61%)	⬇️
...vior_velocity_planner/test/src/test_grid_utils.cpp	26.08% <0.00%> (-6.84%)	⬇️
... and 537 more

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[TakaHoribe]

Good to me. Thank you!