feat(motion_utils): add new search zero velocity

[purewater0901]

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

Description

Add new search zero velocity function that can search stop point in front of the given point.

Related links

Tests performed

Unit Tests

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Merging #1803 (9b95973) into main (f69f612) will increase coverage by 0.95%.
The diff coverage is 65.21%.

@@            Coverage Diff             @@
##             main    #1803      +/-   ##
==========================================
+ Coverage   10.40%   11.35%   +0.95%     
==========================================
  Files        1218     1218              
  Lines       87517    89468    +1951     
  Branches    20505    21924    +1419     
==========================================
+ Hits         9102    10161    +1059     
- Misses      68935    69266     +331     
- Partials     9480    10041     +561     

Flag	Coverage Δ		*Carryforward flag
differential	11.01% <67.74%> (?)
total	10.38% <37.03%> (ø)		Carriedforward from 64cf02d

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

Impacted Files	Coverage Δ
...ils/include/motion_utils/trajectory/trajectory.hpp	82.64% <50.00%> (+3.14%)	⬆️
...tion_utils/test/src/trajectory/test_trajectory.cpp	34.03% <68.42%> (+8.40%)	⬆️
...n_velocity_smoother/src/smoother/smoother_base.cpp	0.00% <0.00%> (ø)
...ity_smoother/src/motion_velocity_smoother_node.cpp	0.00% <0.00%> (ø)
...trajectory_follower/src/mpc_lateral_controller.cpp	40.96% <0.00%> (+6.31%)	⬆️
control/trajectory_follower/test/test_mpc.cpp	62.53% <0.00%> (+6.85%)	⬆️
control/trajectory_follower/src/mpc.cpp	55.97% <0.00%> (+7.95%)	⬆️
...ctory_follower/src/pid_longitudinal_controller.cpp	47.20% <0.00%> (+8.70%)	⬆️
... and 1 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

[takayuki5168]

LGTM