fix(autoware_trajectory): make the get_index function safe

[yhisaki]

Description

The get_index function now returns values between 0 and size -1.

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Effects on system behavior

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[soblin]

This still gives 0 - 1 = 18446744073709551615 as int32_t, which causes narrow-conversion from uint64_t to int32_t.

static_cast<int64_t or int32_t>(std::distance(bases_.begin(), std::lower_bound(bases_.begin(), bases_.end(), s, comp))) still causes narrowing-conversion, so there is no choice but to check if std::distance(bases_.begin(), std::lower_bound(bases_.begin(), bases_.end(), s, comp)) == 0 and return 0, otherwise subtract 1.

[sasakisasaki]

Perhaps we also need to fix this method too? 👀

autoware_core/common/autoware_interpolation/src/spline_interpolation.cpp

Lines 140 to 146 in a308984

	Eigen::Index SplineInterpolation::get_index(const double & key) const
	{
	const auto it = std::lower_bound(base_keys_.begin(), base_keys_.end(), key);
	return std::clamp(
	static_cast<int>(std::distance(base_keys_.begin(), it)) - 1, 0,
	static_cast<int>(base_keys_.size()) - 2);
	}