feat(universe_utils): reduce dependence on Boost.Geometry

[mitukou1109]

Description

This PR enables the following alternative geometry functions to support non-convex polygons.

Function	Supported geometry types
area()	ring / polygon
correct()	polygon
covered_by()	point & ring / point polygon
disjoint()	polygon & polygon
distance()	point & segment (2 edge points) / point & polygon
envelope()	polygon
equals()	point & point / polygon & polygon
intersects()	segment & segment / polygon & polygon
touches()	point & segment / point & polygon
within()	point & ring / point & polygon / polygon & polygon

Note:

• All functions above cannot be used for self-intersecting polygons. Some may work but possibly cause unintended behavior.

Related links

Parent Issue:

• Reduce dependence on Boost.Geometry #8128

How was this PR tested?

colcon test --packages-select autoware_universe_utils

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[mitukou1109]

This PR should be merged after #8995. Currently the random tests fail because the concave polygon generator occasionally creates self-intersections.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.