Fix/remove linear algebra

[TakanoTaiga]

Description

Solving the problem of the same vector manipulation function being implemented in multiple locations.

Abstract

Fixes:

1. Removed operator overloading from lenear_albebra. Consequently, revised /geometry/vector3/operator.hpp to support lenear_albebra-specific features.
2. Due to change 1, the quaternion operator overloading in lenear_albebra was interfering, so it was migrated to operator.hpp.
3. Change 1 caused cases where the getInternalAngle and innerProduct functions in lenear_albebra could not be used, so they were moved to /geometry/vector3/ and templated.
4. The getSize function in lenear_albebra was removed because it had the same functionality as norm.
5. Applied these changes to each module of ScenarioSimulator.
6. Some tests were migrated and deleted due to these changes.

Background

Issue: #1256

Details

• These newly added files are templated versions of functions that were in linear_algebra. The functionality itself has not been changed.

  • common/math/geometry/include/geometry/vector3/inner_product.hpp
  • common/math/geometry/include/geometry/vector3/internal_angle.hpp
  • common/math/geometry/include/geometry/vector3/vector3.hpp

• In common/math/geometry/include/geometry/vector3/is_like_vector3.hpp, the following additions were made:

  • Created a helper template to detect if w is not included as an element.
  • Used the above helper template to set IsLikeVector3 to exclude Quaternions.
  • Added a new IsLikeQuaternion to detect Quaternions.

• In common/math/geometry/include/geometry/vector3/operator.hpp, the following changes were made:

  • Added an option to return the Point type when overloading operators.
  • Added an overload to handle Quaternion calculations.

• Tests were modified to accommodate these changes. There is no change in the coverage rate.

• To accommodate these changes, the following files were modified:

  • common/math/geometry/src/polygon/line_segment.cpp
  • common/math/geometry/src/spline/catmull_rom_spline.cpp
  • simulation/do_nothing_plugin/src/plugin.cpp
  • simulation/traffic_simulator/src/behavior/follow_trajectory.cpp
  • simulation/traffic_simulator/src/behavior/longitudinal_speed_planning.cpp
  • simulation/traffic_simulator/src/entity/entity_manager.cpp
  • simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp

References

https://github.com/OUXT-Polaris/quaternion_operation/blob/2c0bf2a60c50262921f9f1858e474030a39560a0/src/quaternion_operation.cpp#L30-L50

https://github.com/tier4/sim_evaluation_tools/issues/294

Destructive Changes

N/A

Known Limitations

N/A

[github-actions]

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