feat(motion_utils): fix orientaion

[purewater0901]

Signed-off-by: yutaka purewater0901@gmail.com

Description

Currently, insert point function cannot handle backward trajectory, and it inserts wrong direction if it's given the backward trajectory. In this PR, I add a new condition in the code to handle the reverse trajectory.

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Tests performed

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[takayuki5168]

LGTM

[codecov]

Codecov Report

Merging #1397 (9923901) into main (b23f418) will increase coverage by 0.42%.
The diff coverage is 57.14%.

@@            Coverage Diff            @@
##            main    #1397      +/-   ##
=========================================
+ Coverage   9.91%   10.33%   +0.42%     
=========================================
  Files       1117     1117              
  Lines      77934    78627     +693     
  Branches   18087    18708     +621     
=========================================
+ Hits        7724     8127     +403     
- Misses     62678    62685       +7     
- Partials    7532     7815     +283     

Flag	Coverage Δ		*Carryforward flag
differential	10.00% <47.82%> (?)
total	9.89% <48.00%> (ø)		Carriedforward from 5119843

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

Impacted Files	Coverage Δ
planning/obstacle_cruise_planner/src/node.cpp	0.00% <0.00%> (ø)
...tion_utils/test/src/trajectory/test_trajectory.cpp	29.14% <36.58%> (+4.15%)	⬆️
...ils/include/motion_utils/trajectory/trajectory.hpp	82.42% <89.28%> (+4.64%)	⬆️
planning/behavior_velocity_planner/src/node.cpp	0.46% <0.00%> (ø)

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