Incomplete implementation of math::geometry::getClosestPoses function

[HansRobo]

Describe the bug

https://github.com/tier4/scenario_simulator_v2/blob/master/common/math/geometry/src/bounding_box.cpp#L58

math::geometry::getClosestPoses function does not calculate closest poses in case where the shortest point is a point that is not a vertex of bbox1.

In the current implementation, the function returns the shortest distance between each edge of bbox0 and each vertex of bbox1.
But this is imcomplete.

Additionally, this function has multiple function calls to boost::geometry::intersects and boost::geometry::disjoint, but there doesn't seem to be worth calling these multiple times.

Expected behavior
math::geometry::getClosestPoses function does calculate closest poses in all cases include cases where the shortest point is a point that is not a vertex of bbox1.

Desktop (please complete the following information):

• Ubuntu Version: 22.04
• ROS 2 version: Humble
• DDS: Cyclone DDS