Fix/minor bug fixes

[TauTheLepton]

Types of PR

• New Features
• Upgrade of existing features
• Bugfix

Link to the issue

#1114 #1115 #1116 #1117 #1118 #1119 #1120 #1123

Description

I have fixed all bugs that were reported in the issues linked above.

• I have removed equal operators for geometry_msgs::msg::Point and geometry_msgs::msg::Vector3, because they were ambiguous.
• I have fixed the bug which caused the intersection functions using vector to look past the last element of the vector and return wrong results.
• I have fixed a bug where the LineSegment class could be constructed with a geometry_msgs::msg::Vector3 of size = 0. This lead to initialization of end_point with nan values.
• I have fixed the getMinValue and getMaxValue bug where when an empty vector was passed the function tried to dereference vector.end() and the whole program crashed.
• I have fixed a getPolygon bug which caused the function to generate incorrect number of points.
• I have added support for negative curvature values which were already supported by HermiteCurve. This incompatibility lead to errors.
• I have fixed spline collision implementation error which caused spline to add normalized length to absolute lengths which is incorrect.
• I have fixed CatmullRomSubspline collision detection by enabling the HermiteCurve and CatmullRomSpline to have multiple collisions detected and then choosing in the subspline the collisions that occur inside the subspline.

How to review this PR.

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