Fix usage of M_PI on Windows

[traversaro]

M_PI and M_PI_2 are not part of the C or C++ standard. However, they are available in almost all major compilers. On Windows, to make sure that they are defined, _USE_MATH_DEFINES needs to be defined when #include <cmath> or #include <math.h> is included. This PR make sure that _USE_MATH_DEFINES is defined whenever M_PI or M_PI_2 is used, for Windows compatibility.

Checklist:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[bmagyar]

Thank you!

[codecov]

Codecov Report

Attention: 18 lines in your changes are missing coverage. Please review.

Comparison is base (9f7e9e9) 47.71% compared to head (d8dc189) 72.41%.
Report is 20 commits behind head on master.

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #1036       +/-   ##
===========================================
+ Coverage   47.71%   72.41%   +24.69%     
===========================================
  Files          41       41               
  Lines        3871     3639      -232     
  Branches     1833     1782       -51     
===========================================
+ Hits         1847     2635      +788     
+ Misses        751      691       -60     
+ Partials     1273      313      -960     

Flag	Coverage Δ
unittests	72.41% <73.13%> (+24.69%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	76.38% <100.00%> (+28.32%)	⬆️
...jectory_controller/joint_trajectory_controller.hpp	100.00% <ø> (+20.00%)	⬆️
...include/joint_trajectory_controller/trajectory.hpp	73.33% <ø> (+23.33%)	⬆️
...nclude/tricycle_controller/tricycle_controller.hpp	100.00% <ø> (ø)
...roadcaster/src/force_torque_sensor_broadcaster.cpp	82.53% <75.00%> (+21.93%)	⬆️
...ory_controller/src/joint_trajectory_controller.cpp	80.45% <87.50%> (+33.33%)	⬆️
joint_trajectory_controller/src/trajectory.cpp	89.67% <77.77%> (+22.10%)	⬆️
tricycle_controller/src/tricycle_controller.cpp	60.58% <60.60%> (+27.93%)	⬆️

... and 27 files with indirect coverage changes