feat(behavior_path_planner): use util funcitons for interpolation

[purewater0901]

Description

Use interpolation functions from tier4_autoware_utils and motion_utils in the behavior path planner

Tests performed

Scenario Test 1198/1199
Internal Link

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (442f9ac) 12.38% compared to head (5f68f0d) 12.39%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3254   +/-   ##
=======================================
  Coverage   12.38%   12.39%           
=======================================
  Files        1363     1363           
  Lines       95194    95181   -13     
  Branches    27007    27006    -1     
=======================================
  Hits        11793    11793           
+ Misses      71044    71031   -13     
  Partials    12357    12357           

Flag	Coverage Δ		*Carryforward flag
differential	5.52% <0.00%> (?)
total	12.39% <ø> (+<0.01%)	⬆️	Carriedforward from cfc4a2e

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

Impacted Files	Coverage Δ
...n_utils/test/src/trajectory/test_interpolation.cpp	18.15% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	83.33% <ø> (+59.52%)	⬆️
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	7.56% <0.00%> (-0.01%)	⬇️

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[kosuke55]

LGTM