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fix(obstacle_avoidance_planner, interpolation): improve slerp and fix yaw (#1687)
* merge slerp of x y yaw
Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
* ci(pre-commit): autofix
* move and rename new slerp
Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
* add include file
Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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