refactor(behavior_velocity)!: unite spline interpolation

[taikitanaka3]

Related Issue(required)

#361

Description(required)

unite duplicated spline interpolation into utils for behavior velocity(no behavior change but just unite completely same 3 spline interpolation code)

• intersection
• occlusion spot
• blindspot(included intersection util)
• no stopping area

Review Procedure(required)

see path interp in autoware.proj at private road

@kosuke55
can you test this PR in Psim?

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[codecov]

Codecov Report

Merging #411 (0f10e01) into tier4/proposal (5fabc52) will decrease coverage by 3.95%.
The diff coverage is 0.00%.

@@                Coverage Diff                @@
##           tier4/proposal    #411      +/-   ##
=================================================
- Coverage           10.10%   6.14%   -3.96%     
=================================================
  Files                 705      72     -633     
  Lines               49295    4913   -44382     
  Branches             6265     698    -5567     
=================================================
- Hits                 4980     302    -4678     
+ Misses              40248    4468   -35780     
+ Partials             4067     143    -3924     

Impacted Files	Coverage Δ
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <ø> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
...module/no_stopping_area/scene_no_stopping_area.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	11.11% <ø> (+2.02%)	⬆️
...sion_spot/scene_occlusion_spot_in_private_road.cpp	0.00% <0.00%> (ø)
...usion_spot/scene_occlusion_spot_in_public_road.cpp	0.00% <0.00%> (ø)
...r_velocity_planner/src/utilization/interpolate.cpp	0.00% <0.00%> (ø)
...ity_planner/test/src/test_occlusion_spot_utils.cpp	33.33% <ø> (-9.53%)	⬇️
...ocity_planner/src/utilization/path_utilization.cpp	0.00% <0.00%> (-26.67%)	⬇️
... and 634 more

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[tkimura4]

Should it be in interpolation namespace as well as LinearInterpolate

[taikitanaka3]

fixed 0f10e01

[taikitanaka3]

cc : @yukkysaito
this PR is unite same spline interpolation into one utils

[TakaHoribe]

@taikitanaka3 I suggest putting this function in utilization/path_utilization.cpp. Then we can completely remove the utilization/interpolate.hpp, .cpp files with unused LinearInterpolate functions.

[TakaHoribe]

LGTM.