fix: add support for Boost >= 1.76

[esteve]

Description

Boost.Geometry removed the convex_hull::graham_andrew strategy (see https://www.boost.org/doc/libs/1_87_0/libs/geometry/doc/html/geometry/release_notes.html#geometry.release_notes.boost_1_76)

This PR has an alternate code path to support both Boost.Geometry < 1.76 (for Ubuntu 22.04, ROS Humble and Iron) and Boost.Geometry >= 1.76 (for Ubuntu 24.04, ROS Jazzy)

How was this PR tested?

Notes for reviewers

None.

Effects on system behavior

None.

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[esteve]

@JianKangEgon @mitsudome-r @youtalk This is a demonstration for how we can support multiple versions of Boost (via compile definitions and CMake) without having to create a separate branch, which increases maintenance work much more. I've had a look at how to port existing code to Boost >= 1.76, but couldn't find anything straightforward, though I'm sure it's possible, I'm not familiar with the current codebase in autoware_utils.