Cxc 91 update pose transform lib

[adev4a]

PR Details

This PR adds pose transformation in mosaic using Proj. During testing it was found that the map transform calculated by mosaic on the data subscribed to from Traci, does not have geodetic coordinates that match the values calculated by carma-platform. In order to fix this, the transform library in mosaic was extended to accept another parameter for the georeference string which can be used to calculate the geodetic coordinates like it is being calculated in carma-platform and sumo natively (Using proj).

The added georeference field is an optional argument to the mosaic scenario_configuration.

Description

Related GitHub Issue

Related Jira Key

https://usdot-carma.atlassian.net/browse/CXC-91

Motivation and Context

How Has This Been Tested?

Integration tested on xil_carma_cloud scenario on develop and vru scenario on carma-system-4.5.0.

Types of changes

• [ ] Defect fix (non-breaking change that fixes an issue)
• [x] New feature (non-breaking change that adds functionality)
• [ ] Breaking change (fix or feature that cause existing functionality to change)

Checklist:

• [ ] I have added any new packages to the sonar-scanner.properties file
• [ ] My change requires a change to the documentation.
• [ ] I have updated the documentation accordingly.
• [x] I have read the CONTRIBUTING document.
• [x] I have added tests to cover my changes.
• [x] All new and existing tests passed.

[sonarcloud[bot]]

Quality Gate failed

Failed conditions
8.0% Duplication on New Code (required ≤ 3%)

See analysis details on SonarCloud

[adev4a]

Looks like code coverage is >80%. Line duplication requirements are currently not met, the duplicated lines are required definitions of pure virtual functions and the warning should be safe to ignore.