fix(autoware_universe_utils): fix bug in test

[veqcc]

Description

This PR fixes a bug in random float value generations in autoware_unvierse_utils.

When I was fixing clang compiler warning,

$ colcon build --packages-select autoware_universe_utils
Starting >>> autoware_universe_utils
--- stderr: autoware_universe_utils                             
/home/veqcc/work/autoware/src/universe/autoware.universe/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp:66:49: error: implicit conversion from 'int' to 'float' changes value from 2147483647 to 2147483648 [-Werror,-Wimplicit-const-int-float-conversion]
    float x = static_cast<float>(std::rand()) / RAND_MAX * 20.0 - 10.0;
                                              ~ ^~~~~~~~
/usr/include/stdlib.h:87:18: note: expanded from macro 'RAND_MAX'
#define RAND_MAX        2147483647
                        ^~~~~~~~~~

I found that the way random values are generated was wrong.
I added std::cout << x << ' ' << y << std::end to check std::rand() is working:

TEST(trigonometry, opencv_fast_atan2)
{
  for (int i = 0; i < 100; ++i) {
    // Generate random x and y between -10 and 10
    std::srand(0);
    float x = static_cast<float>(std::rand()) / RAND_MAX * 20.0 - 10.0;
    float y = static_cast<float>(std::rand()) / RAND_MAX * 20.0 - 10.0;
    std::cout << x << ' ' << y << std::end
    ...
  }
}

Then I found the values x and y were constants.

[ RUN      ] trigonometry.opencv_fast_atan2
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
6.80375 -2.11234
...

I replaced it with more reliable random generator

TEST(trigonometry, opencv_fast_atan2)
{
  std::random_device rd;
  std::mt19937 gen(rd());

  // Generate random x and y between -10 and 10
  std::uniform_real_distribution<float> dis(-10.0f, 10.0f);

  for (int i = 0; i < 100; ++i) {
    const float x = dis(gen);
    const float y = dis(gen);
    std::cout << x << ' ' << y << std::endl;
    ...
  }
}

I confirmed the values are random.

[ RUN      ] trigonometry.opencv_fast_atan2
-0.095993 -0.101926
0.197819 -1.55618
-9.6819 -8.77628
-6.12843 -4.07039
-4.36896 6.82011
4.78307 -8.05005
-7.99907 -5.32101
7.78429 0.780358
-2.63452 0.678116
6.84502 1.99049
-0.410819 3.21309
4.39843 9.20199
4.26471 -5.10922
3.18221 -0.660125
3.48914 -9.87651
6.14163 -1.30869
-9.28647 -7.76091
-6.74409 7.62205
0.0639296 -8.88451
6.97951 -1.29875
-3.45232 -6.32112
-5.72278 7.52109
9.13137 -5.10323
-5.15501 -3.18629
7.2942 -4.47396
...

Related links

Parent Issue:

• Link

How was this PR tested?

Run

$ colcon test --packages-select autoware_universe_utils

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[veqcc]

Does anyone know why autoware_raw_vehicle_cmd_converter build/test is failing in CI???

Summary: 160 packages finished [12min 0s]
  1 package had stderr output: autoware_raw_vehicle_cmd_converter
  1 package had test failures: autoware_raw_vehicle_cmd_converter
Error: Process completed with exit code 1.

[veqcc]

I found it.
This PR could be merged after #9716 is merged.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.79%. Comparing base (8949358) to head (c9a567b).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9710      +/-   ##
==========================================
+ Coverage   29.74%   29.79%   +0.04%     
==========================================
  Files        1444     1445       +1     
  Lines      108693   108686       -7     
  Branches    42665    42666       +1     
==========================================
+ Hits        32336    32382      +46     
+ Misses      73175    73116      -59     
- Partials     3182     3188       +6     

Flag	Coverage Δ		*Carryforward flag
differential	31.94% <ø> (?)
total	29.77% <ø> (+0.02%)	⬆️	Carriedforward from ddfacd3

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