feat(behavior_path_planner_common): use azimuth for interpolatePose

[kosuke55]

Description

Rather than interpolating orientation, a smooth path can be generated by calculating the azimuth angle for the interpolated position.

before:

after #9361:

after #9362

Related links

Parent Issue:

• Link

How was this PR tested?

2024/11/18 https://evaluation.tier4.jp/evaluation/reports/a8e2f04f-8566-5840-9c91-8ca2acc36dc2/?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 29.79%. Comparing base (4a4db99) to head (d835f40). Report is 38 commits behind head on main.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #9362 +/- ## ========================================== - Coverage 29.80% 29.79% -0.02% ========================================== Files 1338 1344 +6 Lines 103252 103298 +46 Branches 40238 40242 +4 ========================================== + Hits 30777 30780 +3 - Misses 69487 69530 +43 Partials 2988 2988 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9362/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9362/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `19.54% <100.00%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9362/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.80% <ø> (-0.01%)` | :arrow_down: | Carriedforward from [4a4db99](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/4a4db996998836399381fe5f30745fbc66e2d7d1?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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