feat(motion_utils): add interpolation function

[purewater0901]

Description

Currently, autoware has multiple same implementations of the calcInterpolatedTrajectoryPoint function, and I add it to the utils function with unit tests

Related links

Tests performed

Unit Tests

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[codecov]

Codecov Report

Merging #1738 (a572a2b) into main (5808c3f) will increase coverage by 0.04%.
The diff coverage is 30.76%.

@@            Coverage Diff             @@
##             main    #1738      +/-   ##
==========================================
+ Coverage   10.28%   10.32%   +0.04%     
==========================================
  Files        1204     1206       +2     
  Lines       86817    87108     +291     
  Branches    20054    20207     +153     
==========================================
+ Hits         8930     8998      +68     
- Misses      68591    68674      +83     
- Partials     9296     9436     +140     

Flag	Coverage Δ		*Carryforward flag
differential	11.01% <30.76%> (?)
total	10.27% <ø> (ø)		Carriedforward from 5808c3f

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

Impacted Files	Coverage Δ
...n_utils/test/src/trajectory/test_interpolation.cpp	18.75% <18.75%> (ø)
...mmon/motion_utils/src/trajectory/interpolation.cpp	96.87% <96.87%> (ø)
...ning_rviz_plugin/src/path_with_lane_id/display.cpp	0.00% <0.00%> (ø)
...ils/include/motion_utils/trajectory/trajectory.hpp	79.50% <0.00%> (+0.75%)	⬆️
...planning_evaluator/src/planning_evaluator_node.cpp	38.14% <0.00%> (+1.03%)	⬆️

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[takayuki5168]

LGTM