feat: port autoware_interpolation from autoware.universe

[shulanbushangshu]

Description

Port autoware_interpolation from Autoware.Universe

Related links

#139
Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

Should be handled after these changes be merged:
#23

Interface changes

None.

Effects on system behavior

None.

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[youtalk]

Since it’s a porting task, I’m keeping the review to a minimum.

[youtalk]

LGTM

[youtalk]

There are still problems:

• https://github.com/autowarefoundation/autoware.core/actions/runs/12820956208/job/35771388446?pr=149#step:5:575
• https://github.com/autowarefoundation/autoware.core/actions/runs/12820956132/job/35771382777?pr=149#step:3:181

[NorahXiong]

There are still problems:

• https://github.com/autowarefoundation/autoware.core/actions/runs/12820956208/job/35771388446?pr=149#step:5:575
• https://github.com/autowarefoundation/autoware.core/actions/runs/12820956132/job/35771382777?pr=149#step:3:181

• https://github.com/autowarefoundation/autoware.core/actions/runs/12820956208/job/35771388446?pr=149#step:5:575
  Error is not detected in this package.
  

• https://github.com/autowarefoundation/autoware.core/actions/runs/12820956132/job/35771382777?pr=149#step:3:181
  Sorry for not keeping you posted about the update in the PR description: (This PR) Should be handled after these changes be merged: #23

[youtalk]

The error with pre-commit-optional resolved itself over time. Now we’re just waiting for the merge of #23.

[codecov]

Codecov Report

Attention: Patch coverage is 80.20699% with 153 lines in your changes missing coverage. Please review.

Project coverage is 79.91%. Comparing base (4cb18f5) to head (dca7701).
Report is 22 commits behind head on main.

Files with missing lines	Patch %	Lines
...n/test/src/test_spline_interpolation_points_2d.cpp	59.13%	1 Missing and 37 partials ⚠️
...nterpolation/test/src/test_interpolation_utils.cpp	52.63%	0 Missing and 27 partials ⚠️
...terpolation/src/spline_interpolation_points_2d.cpp	71.42%	23 Missing and 3 partials ⚠️
...terpolation/test/src/test_spline_interpolation.cpp	86.89%	0 Missing and 19 partials ⚠️
...n/test/src/test_spherical_linear_interpolation.cpp	72.41%	0 Missing and 16 partials ⚠️
...re_interpolation/test/src/test_zero_order_hold.cpp	86.48%	0 Missing and 10 partials ⚠️
...terpolation/test/src/test_linear_interpolation.cpp	83.72%	0 Missing and 7 partials ⚠️
...terpolation/src/spherical_linear_interpolation.cpp	76.47%	3 Missing and 1 partial ⚠️
...ude/autoware/interpolation/interpolation_utils.hpp	93.93%	0 Missing and 2 partials ⚠️
...utoware_interpolation/src/spline_interpolation.cpp	98.26%	1 Missing and 1 partial ⚠️
... and 2 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #149      +/-   ##
==========================================
+ Coverage   78.75%   79.91%   +1.16%     
==========================================
  Files          11       26      +15     
  Lines         193      966     +773     
  Branches       73      630     +557     
==========================================
+ Hits          152      772     +620     
- Misses         11       39      +28     
- Partials       30      155     +125     

Flag	Coverage Δ		*Carryforward flag
differential	80.20% <80.20%> (?)
total	78.75% <ø> (ø)		Carriedforward from 40477de

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

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[NorahXiong]

Hi, @youtalk, this PR is ready to be merged now.

[youtalk]

Although it’s a porting PR, please just fix these small adjustments.

[youtalk]

LGTM

[liuXinGangChina]

Hi mits san @mitsudome-r
This pr has been synced with main branch and receive “LGTM” from kondo san
Can you merge this one

Best regards

心刚

[youtalk]

@liuXinGangChina It needs to be merged simultaneously with the PR that removes autoware_interpolation from autoware.universe.
https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_interpolation

[NorahXiong]

@liuXinGangChina It needs to be merged simultaneously with the PR that removes autoware_interpolation from autoware.universe. https://github.com/autowarefoundation/autoware.universe/tree/main/common/autoware_interpolation

Package autoware_interpolation is deleted from autoware.universe now.
autowarefoundation/autoware.universe#10018

[mitsudome-r]

Thanks @NorahXiong @youtalk @shulanbushangshu.
LGTM!

[youtalk]

LGTM

[mitsudome-r]

Since the blocker PR was merged last week. I'm testing the build again.

[mitsudome-r]

I have tested build with this PR and the one in Autoware.Universe, but it seems like there are a lot of packages that depends on autoware_universe_utils through this package and got a lot of errors during build.

It's better to remove the dependency to autoware_universe_utils with autoware_utils in Autoware.Universe first to make sure that the build passes, and then do the porting. I am creating the following PRs to fix this issue:

• make sure to include autoware_universe_utils header files for packages that are using it
  • fix: add missing includes to autoware_universe_utils autoware.universe#10091
  • fix(driving_environment_analyzer): add missing include files for autoware_universe_utils autoware_tools#212
• replace autoware_universe_utils with autoware_utils in Autoware.Universe
  • feat: remove dependency on autoware_universe_utils from autoware_interpolation and autoware_motion_utils autoware.universe#10092