feat(interpolation): add option to enable akima spline for xy

[takayuki5168]

Signed-off-by: Takayuki Murooka [email protected]

Description

No behavior change with this PR.
I replaced the option of use_lerp_for_xy with use_akima_spline_for_xy, which is false by default.

I confirmed that use_lerp_for_xy is not used in any planning package.

background
Spline interpolation for 2d position sometimes generates unexpected wave as follows.

(If use_akima_spline_for_xy is true) With akima spline, this wave can be removed.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[takayuki5168]

@purewater0901 Could you review the PR.

[purewater0901]

LGTM

[codecov]

Codecov Report

Base: 11.63% // Head: 11.71% // Increases project coverage by +0.08% 🎉

Coverage data is based on head (b311805) compared to base (d6c0c09).
Patch coverage: 72.22% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2802      +/-   ##
==========================================
+ Coverage   11.63%   11.71%   +0.08%     
==========================================
  Files        1317     1317              
  Lines       91839    91969     +130     
  Branches    24382    24490     +108     
==========================================
+ Hits        10681    10778      +97     
- Misses      70007    70008       +1     
- Partials    11151    11183      +32     

Flag	Coverage Δ		*Carryforward flag
differential	12.85% <20.00%> (?)
total	11.63% <100.00%> (ø)		Carriedforward from d6c0c09

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

Impacted Files	Coverage Δ
common/motion_utils/src/resample/resample.cpp	43.79% <72.22%> (+11.76%)	⬆️
...ne_optimizer/src/collision_free_optimizer_node.cpp	23.01% <0.00%> (+0.41%)	⬆️
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	44.13% <0.00%> (+0.58%)	⬆️
...ing/obstacle_avoidance_planner/src/utils/utils.cpp	10.59% <0.00%> (+0.66%)	⬆️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.