feat(universe_utils): add Buffer implementation to replace boost.buffer()

[mraditya01]

Description

Added new buffer function within universe_utils to replace boost.buffer function on point, multiple points, polygons, and multi polygons. Algorithm based on POLYGON OFFSETTING BY COMPUTING WINDING NUMBERS, Xiaorui Chen Sara McMains, Berkeley, 2005

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How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[xmfcx]

@mraditya01 could you resolve the conflicts and rebase this PR?

[codecov]

Codecov Report

Attention: Patch coverage is 81.87500% with 29 lines in your changes missing coverage. Please review.

Project coverage is 28.42%. Comparing base (421d9ec) to head (a0ec4a8).
Report is 17 commits behind head on main.

Files with missing lines	Patch %	Lines
...oware_universe_utils/src/geometry/polygon_clip.cpp	80.89%	14 Missing and 3 partials ⚠️
...on/autoware_universe_utils/src/geometry/buffer.cpp	83.09%	10 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9333      +/-   ##
==========================================
+ Coverage   28.30%   28.42%   +0.12%     
==========================================
  Files        1485     1486       +1     
  Lines      111091   111251     +160     
  Branches    43152    43220      +68     
==========================================
+ Hits        31445    31628     +183     
+ Misses      76626    76592      -34     
- Partials     3020     3031      +11     

Flag	Coverage Δ		*Carryforward flag
differential	31.23% <81.87%> (?)
total	28.30% <ø> (ø)		Carriedforward from 8c115f7

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