chore(autoware_motion_utils): add error handling, adapt to edge cases, and use an iterator-based algorithm

[yhisaki]

Description

1. If given index of points are out of range, make it to throw out_of_range exception.
2. If src_idx is end, return 0.0 as a distance.
3. Use the range based accumulation algorithm.

Related links

How was this PR tested?

Unit Test

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 83.33333% with 1 line in your changes missing coverage. Please review.

Project coverage is 45.94%. Comparing base (4cb18f5) to head (55a9a96).
Report is 56 commits behind head on main.

Files with missing lines	Patch %	Lines
...de/autoware/motion_utils/trajectory/trajectory.hpp	83.33%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #209       +/-   ##
===========================================
- Coverage   78.75%   45.94%   -32.82%     
===========================================
  Files          11       40       +29     
  Lines         193     7705     +7512     
  Branches       73     5609     +5536     
===========================================
+ Hits          152     3540     +3388     
- Misses         11      769      +758     
- Partials       30     3396     +3366     

Flag	Coverage Δ
differential	45.94% <83.33%> (?)
total	?

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[takayuki5168]

Since at operation is used for the index, without your change, when there is an out of range index, I guess the error will be thrown.
Let me know if I miss something.

[PanConChicharron]

Maybe this is unfair, but could you add a small unit-test?

[takayuki5168]

@PanConChicharron
What do you mean by unfair?

[soblin]

We will stop representing the trajectory as a list of points in the next few months. In this case please clamp the src and dst to within the points size and log the error instead of raising exception.