feat(tier4_autoware_utils): add quaternion operation

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

motion_common is autoware.auto's unique implementation, where dependency from other packages will be removed soon. #2229
In autoware.universe, we have other utils packages that are tier4_autoware_utils/motion_utils.

Some control packages depend on motion_common's implementation, which I copied them to tier4_autoware_utils in this PR.

autoware.universe/common/motion_common/src/motion_common/motion_common.cpp

Lines 227 to 252 in 4f6c3d4

	namespace geometry_msgs
	{
	namespace msg
	{
	Quaternion operator+(Quaternion a, Quaternion b) noexcept
	{
	tf2::Quaternion quat_a;
	tf2::Quaternion quat_b;
	tf2::fromMsg(a, quat_a);
	tf2::fromMsg(b, quat_b);
	return tf2::toMsg(quat_a + quat_b);
	}
	Quaternion operator-(Quaternion a) noexcept
	{
	tf2::Quaternion quat_a;
	tf2::fromMsg(a, quat_a);
	return tf2::toMsg(quat_a * -1.0);
	}
	Quaternion operator-(Quaternion a, Quaternion b) noexcept
	{
	tf2::Quaternion quat_a;
	tf2::Quaternion quat_b;
	tf2::fromMsg(a, quat_a);
	tf2::fromMsg(b, quat_b);
	return tf2::toMsg(quat_a * quat_b.inverse());
	}

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[takayuki5168]

This PR needs to be merged before #2231 since control_performance_analysis uses this PR's functions.

[TakaHoribe]

LGTM anyway.
This is ported from motion_common, which was used in the autoware.auto

[codecov]

Codecov Report

Base: 10.88% // Head: 11.45% // Increases project coverage by +0.57% 🎉

Coverage data is based on head (6a310b7) compared to base (4c0f75f).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2244      +/-   ##
==========================================
+ Coverage   10.88%   11.45%   +0.57%     
==========================================
  Files        1179     1198      +19     
  Lines       84935    87186    +2251     
  Branches    20043    21353    +1310     
==========================================
+ Hits         9242     9984     +742     
- Misses      65931    66968    +1037     
- Partials     9762    10234     +472     

Flag	Coverage Δ		*Carryforward flag
differential	12.65% <0.00%> (?)
total	10.85% <ø> (ø)		Carriedforward from 4c0f75f

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...mon/tier4_autoware_utils/src/ros/msg_operation.cpp	0.00% <0.00%> (ø)
...ctory_follower/include/trajectory_follower/mpc.hpp	42.30% <0.00%> (-4.36%)	⬇️
...ion/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp	0.00% <0.00%> (ø)
...e_pursuit/src/pure_pursuit_core/planning_utils.cpp	0.00% <0.00%> (ø)
...on_planner/src/mission_planner/mission_planner.cpp	0.00% <0.00%> (ø)
...rsuit/include/pure_pursuit/util/planning_utils.hpp	0.00% <0.00%> (ø)
...ocity_planner/src/scene_module/stop_line/scene.cpp	0.00% <0.00%> (ø)
...c/pure_pursuit/pure_pursuit_lateral_controller.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
.../src/scene_module/side_shift/side_shift_module.cpp	0.00% <0.00%> (ø)
... and 33 more

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