fix: add support for Boost >= 1.76

[esteve]

Description

Boost.Geometry removed the convex_hull::graham_andrew strategy (see https://www.boost.org/doc/libs/1_87_0/libs/geometry/doc/html/geometry/release_notes.html#geometry.release_notes.boost_1_76)

This PR has an alternate code path to support both Boost.Geometry < 1.76 (for Ubuntu 22.04, ROS Humble and Iron) and Boost.Geometry >= 1.76 (for Ubuntu 24.04, ROS Jazzy)

How was this PR tested?

Notes for reviewers

None.

Effects on system behavior

None.

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[esteve]

@JianKangEgon @mitsudome-r @youtalk This is a demonstration for how we can support multiple versions of Boost (via compile definitions and CMake) without having to create a separate branch, which increases maintenance work much more. I've had a look at how to port existing code to Boost >= 1.76, but couldn't find anything straightforward, though I'm sure it's possible, I'm not familiar with the current codebase in autoware_utils.

[Timple]

Random bystander here. But this looks nice!

Much better than the multiple branches approach. As that will probably introduce mergebots and a flood of pull-requests and notifications.

I too ran into this issue with Boost. But I never proposed a fix as the boost documentation does not suggest a new alternative 🙁

[Timple]

Due to the lack of boost documentation I've asked around:

Chatgpt recommends using the default strategy.
Perplexity suggests to use the robust cartesian strategy: auto robust_strategy = strategies::convex_hull::cartesian<>( strategies::side::side_robust<double, strategies::side::fp_equals_policy>());

Perhaps it's only a matter of verification 🙂.