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

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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!

[blnicho]

Suggested change

	"""Return an array floats interpolated from data at times_data in
	time_set.
	"""Return an array of floats interpolated at the time points in time_set
	from data defined at time_data.

[blnicho]

indexes isn't described in the docstring

[Robbybp]

Is indexes used? If not, can it be removed?

[blnicho]

Suggested change

	If data are Pyomo components, this will return Pyomo expressions
	interpolation if data are floats, this will return floats.
	If data are Pyomo components, this will return Pyomo expressions.
	If data are floats, this will return floats.

[codecov]

Codecov Report

Attention: Patch coverage is 94.73684% with 2 lines in your changes missing coverage. Please review.

Project coverage is 88.76%. Comparing base (32591c1) to head (8230e5b).

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%   88.76%           
=======================================
  Files         890      891    +1     
  Lines      102246   102284   +38     
=======================================
+ Hits        90749    90790   +41     
+ Misses      11497    11494    -3     

Flag	Coverage Δ
builders	26.61% <13.15%> (-0.01%)	⬇️
default	84.87% <94.73%> (?)
expensive	34.00% <13.15%> (?)
linux	86.25% <94.73%> (-2.26%)	⬇️
linux_other	86.25% <94.73%> (+<0.01%)	⬆️
osx	82.84% <94.73%> (+0.16%)	⬆️
win	84.58% <94.73%> (+0.01%)	⬆️
win_other	84.58% <94.73%> (+0.01%)	⬆️

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