Add time interpolation to mpc data

[eslickj]

Fixes None

Adds option to linearly interpolate from MPC TimeSeriesData.

Summary/Motivation:

Sometimes you have time series data that doesn't line up perfectly with model time indexes. @blnicho and @jsiirola, this is part of the recent MHE work.

Changes proposed in this PR:

• Add some linear interpolation utility functions and use them to add interpolation capbility to get data and time points not in MPC TimeSeriesData

Legal Acknowledgement

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1. I agree my contributions are submitted under the BSD license.
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[Robbybp]

Thanks for the addition. This is definitely functionality we were missing. I think this would be better as it's own interpolate, or get_interpolated_data, method. Would that work for your application?

There is also the question of whether to support some form of interpolation in DynamicModelInterface. (E.g., in get_data_at_time, load_data, or dedicated methods for interpolation.) I'm fine with (and think I prefer) punting for now if you don't need this for your application.

[Robbybp]

Looks good once tests pass, thanks!

[codecov]

Codecov Report

❌ Patch coverage is 94.73684% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 88.67%. Comparing base (32591c1) to head (0a25e00).
⚠️ Report is 864 commits behind head on main.

Files with missing lines	Patch %	Lines
pyomo/contrib/mpc/data/interpolation.py	94.44%	1 Missing ⚠️
pyomo/contrib/mpc/data/series_data.py	95.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3559      +/-   ##
==========================================
- Coverage   88.75%   88.67%   -0.08%     
==========================================
  Files         890      891       +1     
  Lines      102246   102616     +370     
==========================================
+ Hits        90749    90998     +249     
- Misses      11497    11618     +121     

Flag	Coverage Δ
builders	26.61% <13.15%> (-0.01%)	⬇️
default	84.87% <94.73%> (?)
expensive	34.00% <13.15%> (?)
linux	86.54% <94.73%> (-1.96%)	⬇️
linux_other	86.54% <94.73%> (+0.29%)	⬆️
osx	82.84% <94.73%> (+0.15%)	⬆️
win	84.75% <94.73%> (+0.17%)	⬆️
win_other	84.75% <94.73%> (+0.17%)	⬆️

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[mrmundt]

@eslickj - Please run black -S -C . on your code with the most recent version of black