feat: add convex tricycle speed scaling

[thedevmystic]

Hello, respected maintainers and reviewers!
This is Surya!

This PR addresses:

• add convex speed scaling in tricycle controller.

now, the scale factor is smooth out instead of being janky!

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 84.83%. Comparing base (f72f813) to head (83bb308).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2149      +/-   ##
==========================================
+ Coverage   84.79%   84.83%   +0.03%     
==========================================
  Files         151      151              
  Lines       14833    14864      +31     
  Branches     1286     1286              
==========================================
+ Hits        12578    12610      +32     
+ Misses       1784     1783       -1     
  Partials      471      471              

Flag	Coverage Δ
unittests	84.83% <100.00%> (+0.03%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
tricycle_controller/src/tricycle_controller.cpp	64.87% <100.00%> (+0.56%)	⬆️
...cycle_controller/test/test_tricycle_controller.cpp	91.72% <100.00%> (+2.15%)	⬆️

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[saikishor]

Can you add a test verifying the same? I'll need to check math once again.

And if possible add some plots on how it is smoothed out.

[christophfroehlich]

As we mentioned, this controller is going to be deprecated. Better work on an enhancement in the steering_controller_library, where I already have ported this feature

[thedevmystic]

Well, I didn't knew it was going to be deprecated. But I've already finished the work on this. Well we can complete the TODO and deprecate it, can't we? Because tricycle_controller is still not deprecated if I'm right.

Anyways, this is the data.

old vs New

different exponential powers

Again, @christophfroehlich, I didn't knew about the depreciation, but take a look at it :)

[christophfroehlich]

Again, @christophfroehlich, I didn't knew about the depreciation, but take a look at it :)

I haven't deprecated it until #1695 is merged. You can help to leave a review there.

As this is kind of a behavior change, I'm unsure if we should merge this into tricycle_controller; or at least don't backport it to the stable branches.

[thedevmystic]

Well I can advise one thing, if tricycle_controller is going to deprecated very soon, then we shouldn't merge it. But if tricycle_controller is going to be around for some more time, then there is no bad thing to merge this, as it completes the TODO.

That's just my thoughts :)