Extend frenet_optimal_trajectory to support more scenarios

[Aglargil]

Reference issue

fix #1073

What does this implement/fix?

• Add CartesianFrenetConverter: A class for converting states between Cartesian and Frenet coordinate systems
• Add third derivative and curvature rate calculations to CubicSpline
• Add LowSpeed/HighSpeed LateralMovementStrategy, add MergingAndStopping/VelocityKeeping LongitudinalMovementStrategy
• Fix : s_d was used as the acceleration, but since s_d only represents the longitudinal acceleration, the CartesianFrenetConverter is now used to compute the acceleration a consistently

Additional information

• Since I’m unsure which formatting tool to use, I used ruff as mentioned in this link. If there’s a standard formatting method for the project, please let me know, and I’ll update it right away.

CheckList

• Did you add an unittest for your new example or defect fix?
• Did you add documents for your new example? (Already have)
• All CIs are green? (You can check it after submitting)