feat(trajectory): add API description, nomenclature, illustration, rename functions to align with nomenclature

[soblin]

Description

Read this : https://autowarefoundation.github.io/autoware_core/pr-292/common/autoware_trajectory/

• rename get_internal_base to get_underlying_base to align with nomenclature
• compute the curvature as signed value following nomenclature definition
• add methods to compute() taking vector as input and return vector as output for uitlity
• add method to compute yaw for utility
• compute base distance in 3D manner following nomenclature defintion

Related links

Parent Issue:

• Link

How was this PR tested?

unit test passes

Notes for reviewers

None.

Interface changes

add following member functions to trajectory_class. They will be 100% used when planning node starts using this class

• compute(vector<double>)
• curvature(vector<double>)

Effects on system behavior

None.

[github-actions]

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware_core/pr-292/
Modified URLs:

• https://autowarefoundation.github.io/autoware_core/pr-292/common/autoware_trajectory/

[codecov]

Codecov Report

Attention: Patch coverage is 8.24176% with 167 lines in your changes missing coverage. Please review.

Project coverage is 32.24%. Comparing base (4cb18f5) to head (c250ead).
Report is 133 commits behind head on main.

Files with missing lines	Patch %	Lines
...on/autoware_trajectory/examples/example_readme.cpp	0.00%	111 Missing ⚠️
common/autoware_trajectory/src/point.cpp	20.00%	12 Missing ⚠️
testing/autoware_pyplot/src/axes.cpp	21.42%	10 Missing and 1 partial ⚠️
common/autoware_trajectory/src/path_point.cpp	0.00%	7 Missing ⚠️
...e_trajectory/include/autoware/trajectory/point.hpp	0.00%	6 Missing ⚠️
...utoware_trajectory/src/path_point_with_lane_id.cpp	25.00%	6 Missing ⚠️
common/autoware_trajectory/src/pose.cpp	14.28%	6 Missing ⚠️
...ommon/autoware_trajectory/src/trajectory_point.cpp	28.57%	5 Missing ⚠️
testing/autoware_pyplot/src/figure.cpp	0.00%	2 Missing ⚠️
...ectory/include/autoware/trajectory/utils/shift.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #292       +/-   ##
===========================================
- Coverage   78.75%   32.24%   -46.52%     
===========================================
  Files          11      182      +171     
  Lines         193    11406    +11213     
  Branches       73     4238     +4165     
===========================================
+ Hits          152     3678     +3526     
- Misses         11     7242     +7231     
- Partials       30      486      +456     

Flag	Coverage Δ
differential	32.24% <8.24%> (?)
total	?

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