feat(perception_utils): use slerp for orientation

[purewater0901]

Signed-off-by: yutaka [email protected]

Description

Since the predicted path can store the same points, it'll cause a serious problem when computing the orientation of each point by using two positions. In this PR, instead of using two points, I change the calculation by using spherical linear interpolation.

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[codecov]

Codecov Report

Merging #1764 (3d4321b) into main (d38d66a) will increase coverage by 0.02%.
The diff coverage is 48.21%.

@@            Coverage Diff             @@
##             main    #1764      +/-   ##
==========================================
+ Coverage   10.35%   10.37%   +0.02%     
==========================================
  Files        1209     1210       +1     
  Lines       87338    87391      +53     
  Branches    20237    20275      +38     
==========================================
+ Hits         9043     9069      +26     
- Misses      68848    68849       +1     
- Partials     9447     9473      +26     

Flag	Coverage Δ		*Carryforward flag
differential	6.64% <49.05%> (?)
total	10.33% <33.33%> (ø)		Carriedforward from d38d66a

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

Impacted Files	Coverage Δ
.../include/perception_utils/predicted_path_utils.hpp	52.63% <0.00%> (ø)
...mmon/perception_utils/src/predicted_path_utils.cpp	49.05% <49.05%> (ø)
...tion/include/interpolation/interpolation_utils.hpp	54.83% <100.00%> (ø)

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[takayuki5168]

LGTM