diff --git a/common/autoware_motion_utils/CMakeLists.txt b/common/autoware_motion_utils/CMakeLists.txt
index e7f1f56a451f4..8cae2a8ac4110 100644
--- a/common/autoware_motion_utils/CMakeLists.txt
+++ b/common/autoware_motion_utils/CMakeLists.txt
@@ -7,16 +7,11 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
-find_package(fmt REQUIRED)
 
 ament_auto_add_library(autoware_motion_utils SHARED
   DIRECTORY src
 )
 
-target_link_libraries(autoware_motion_utils
-  fmt::fmt
-)
-
 if(BUILD_TESTING)
   find_package(ament_cmake_ros REQUIRED)
 
@@ -45,6 +40,7 @@ if(BUILD_EXAMPLES)
   foreach(example_file ${example_files})
     get_filename_component(example_name ${example_file} NAME_WE)
     ament_auto_add_executable(${example_name} ${example_file})
+    set_source_files_properties(${example_file} PROPERTIES COMPILE_FLAGS -Wno-error -Wno-attributes -Wno-unused-parameter)
     target_link_libraries(${example_name}
       autoware_motion_utils
       matplotlibcpp17::matplotlibcpp17
diff --git a/common/autoware_motion_utils/examples/example_interpolator.cpp b/common/autoware_motion_utils/examples/example_interpolator.cpp
index 8c98143af7e28..6ce81e4572276 100644
--- a/common/autoware_motion_utils/examples/example_interpolator.cpp
+++ b/common/autoware_motion_utils/examples/example_interpolator.cpp
@@ -12,7 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp"
 #include "autoware/motion_utils/trajectory_container/interpolator/linear.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp"
 
 #include <autoware/motion_utils/trajectory_container/interpolator.hpp>
 
@@ -27,26 +31,25 @@ int main()
   auto plt = matplotlibcpp17::pyplot::import();
 
   // create random values
-  std::vector<double> axis = {0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0};
+  std::vector<double> bases = {0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0};
   std::vector<double> values;
   std::random_device seed_gen;
   std::mt19937 engine(seed_gen());
   std::uniform_real_distribution<> dist(-1.0, 1.0);
-  for (size_t i = 0; i < axis.size(); ++i) {
+  for (size_t i = 0; i < bases.size(); ++i) {
     values.push_back(dist(engine));
   }
   // Scatter Data
-  plt.scatter(Args(axis, values));
+  plt.scatter(Args(bases, values));
 
-  using autoware::motion_utils::trajectory_container::interpolator::Interpolator;
-  using autoware::motion_utils::trajectory_container::interpolator::InterpolatorCreator;
+  using autoware::motion_utils::trajectory_container::interpolator::InterpolatorInterface;
   // Linear Interpolator
   {
     using autoware::motion_utils::trajectory_container::interpolator::Linear;
-    auto interpolator = *InterpolatorCreator<Linear>().set_axis(axis).set_values(values).create();
+    auto interpolator = *Linear::Builder{}.set_bases(bases).set_values(values).build();
     std::vector<double> x;
     std::vector<double> y;
-    for (double i = axis.front(); i < axis.back(); i += 0.01) {
+    for (double i = bases.front(); i < bases.back(); i += 0.01) {
       x.push_back(i);
       y.push_back(interpolator.compute(i));
     }
@@ -56,11 +59,11 @@ int main()
   // AkimaSpline Interpolator
   {
     using autoware::motion_utils::trajectory_container::interpolator::AkimaSpline;
-    auto interpolator =
-      *InterpolatorCreator<AkimaSpline>().set_axis(axis).set_values(values).create();
+
+    auto interpolator = *AkimaSpline::Builder{}.set_bases(bases).set_values(values).build();
     std::vector<double> x;
     std::vector<double> y;
-    for (double i = axis.front(); i < axis.back(); i += 0.01) {
+    for (double i = bases.front(); i < bases.back(); i += 0.01) {
       x.push_back(i);
       y.push_back(interpolator.compute(i));
     }
@@ -70,11 +73,10 @@ int main()
   // CubicSpline Interpolator
   {
     using autoware::motion_utils::trajectory_container::interpolator::CubicSpline;
-    auto interpolator =
-      *InterpolatorCreator<CubicSpline>().set_axis(axis).set_values(values).create();
+    auto interpolator = *CubicSpline::Builder{}.set_bases(bases).set_values(values).build();
     std::vector<double> x;
     std::vector<double> y;
-    for (double i = axis.front(); i < axis.back(); i += 0.01) {
+    for (double i = bases.front(); i < bases.back(); i += 0.01) {
       x.push_back(i);
       y.push_back(interpolator.compute(i));
     }
@@ -85,10 +87,10 @@ int main()
   {
     using autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor;
     auto interpolator =
-      *InterpolatorCreator<NearestNeighbor<double>>().set_axis(axis).set_values(values).create();
+      *NearestNeighbor<double>::Builder{}.set_bases(bases).set_values(values).build();
     std::vector<double> x;
     std::vector<double> y;
-    for (double i = axis.front(); i < axis.back(); i += 0.01) {
+    for (double i = bases.front(); i < bases.back(); i += 0.01) {
       x.push_back(i);
       y.push_back(interpolator.compute(i));
     }
@@ -98,11 +100,10 @@ int main()
   // Stairstep Interpolator
   {
     using autoware::motion_utils::trajectory_container::interpolator::Stairstep;
-    auto interpolator =
-      *InterpolatorCreator<Stairstep<double>>().set_axis(axis).set_values(values).create();
+    auto interpolator = *Stairstep<double>::Builder{}.set_bases(bases).set_values(values).build();
     std::vector<double> x;
     std::vector<double> y;
-    for (double i = axis.front(); i < axis.back(); i += 0.01) {
+    for (double i = bases.front(); i < bases.back(); i += 0.01) {
       x.push_back(i);
       y.push_back(interpolator.compute(i));
     }
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp
index a6542d1fc212f..a6a0c69744301 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp
@@ -16,7 +16,6 @@
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_
 #include <autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp>
 #include <autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp>
-#include <autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp>
 #include <autoware/motion_utils/trajectory_container/interpolator/linear.hpp>
 #include <autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp>
 #include <autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp>
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp
index 363d046534399..f9a2ac1316a4e 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp
@@ -15,11 +15,10 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_
 
-#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp"
 
 #include <Eigen/Dense>
 
-#include <memory>
 #include <vector>
 
 namespace autoware::motion_utils::trajectory_container::interpolator
@@ -30,7 +29,7 @@ namespace autoware::motion_utils::trajectory_container::interpolator
  *
  * This class provides methods to perform Akima spline interpolation on a set of data points.
  */
-class AkimaSpline : public Interpolator<double>
+class AkimaSpline : public detail::InterpolatorMixin<AkimaSpline, double>
 {
 private:
   Eigen::VectorXd a_, b_, c_, d_;  ///< Coefficients for the Akima spline.
@@ -40,21 +39,20 @@ class AkimaSpline : public Interpolator<double>
    *
    * This method computes the coefficients for the Akima spline.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    */
   void compute_parameters(
-    const Eigen::Ref<const Eigen::VectorXd> & axis,
+    const Eigen::Ref<const Eigen::VectorXd> & bases,
     const Eigen::Ref<const Eigen::VectorXd> & values);
 
   /**
    * @brief Build the interpolator with the given values.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    */
-  void build_impl(
-    const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<double> & values) override;
+  void build_impl(const std::vector<double> & bases, const std::vector<double> & values) override;
 
   /**
    * @brief Compute the interpolated value at the given point.
@@ -89,13 +87,6 @@ class AkimaSpline : public Interpolator<double>
    * @return The minimum number of required points.
    */
   [[nodiscard]] size_t minimum_required_points() const override { return 5; }
-
-  /**
-   * @brief Clone the interpolator.
-   *
-   * @return A shared pointer to a new instance of the interpolator.
-   */
-  [[nodiscard]] std::shared_ptr<Interpolator<double>> clone() const override;
 };
 
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp
index 50cff1dde3f35..437ddd727cc7d 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__CUBIC_SPLINE_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__CUBIC_SPLINE_HPP_
 
-#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp"
 
 #include <Eigen/Dense>
 
@@ -29,33 +29,32 @@ namespace autoware::motion_utils::trajectory_container::interpolator
  *
  * This class provides methods to perform cubic spline interpolation on a set of data points.
  */
-class CubicSpline : public Interpolator<double>
+class CubicSpline : public detail::InterpolatorMixin<CubicSpline, double>
 {
 private:
   Eigen::VectorXd a_, b_, c_, d_;  ///< Coefficients for the cubic spline.
-  Eigen::VectorXd h_;              ///< Interval sizes between axis points.
+  Eigen::VectorXd h_;              ///< Interval sizes between bases points.
 
   /**
    * @brief Compute the spline parameters.
    *
    * This method computes the coefficients for the cubic spline.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    */
   void compute_parameters(
-    const Eigen::Ref<const Eigen::VectorXd> & axis,
+    const Eigen::Ref<const Eigen::VectorXd> & bases,
     const Eigen::Ref<const Eigen::VectorXd> & values);
 
   /**
    * @brief Build the interpolator with the given values.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    * @return True if the interpolator was built successfully, false otherwise.
    */
-  void build_impl(
-    const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<double> & values) override;
+  void build_impl(const std::vector<double> & bases, const std::vector<double> & values) override;
 
   /**
    * @brief Compute the interpolated value at the given point.
@@ -90,13 +89,6 @@ class CubicSpline : public Interpolator<double>
    * @return The minimum number of required points.
    */
   [[nodiscard]] size_t minimum_required_points() const override { return 4; }
-
-  /**
-   * @brief Clone the interpolator.
-   *
-   * @return A shared pointer to a new instance of the interpolator.
-   */
-  [[nodiscard]] std::shared_ptr<Interpolator<double>> clone() const override;
 };
 
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_interface.hpp
similarity index 77%
rename from common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp
rename to common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_interface.hpp
index f7de456b736a4..f0131e85e157c 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_interface.hpp
@@ -13,15 +13,13 @@
 // limitations under the License.
 
 // clang-format off
-#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_IMPL_HPP_  // NOLINT
-#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_IMPL_HPP_  // NOLINT
+#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_  // NOLINT
+#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_  // NOLINT
 // clang-format on
 
 #include <Eigen/Dense>
 #include <rclcpp/logging.hpp>
 
-#include <fmt/format.h>
-
 #include <vector>
 
 namespace autoware::motion_utils::trajectory_container::interpolator::detail
@@ -35,20 +33,20 @@ namespace autoware::motion_utils::trajectory_container::interpolator::detail
  * @tparam T The type of the values being interpolated.
  */
 template <typename T>
-class InterpolatorCommonImpl
+class InterpolatorCommonInterface
 {
 protected:
-  Eigen::VectorXd axis_;  ///< Axis values for the interpolation.
+  std::vector<double> bases_;  ///< bases values for the interpolation.
 
   /**
    * @brief Get the start of the interpolation range.
    */
-  [[nodiscard]] double start() const { return axis_(0); }
+  [[nodiscard]] double start() const { return bases_.front(); }
 
   /**
    * @brief Get the end of the interpolation range.
    */
-  [[nodiscard]] double end() const { return axis_(axis_.size() - 1); }
+  [[nodiscard]] double end() const { return bases_.back(); }
 
   /**
    * @brief Compute the interpolated value at the given point.
@@ -65,11 +63,10 @@ class InterpolatorCommonImpl
    *
    * This method should be overridden by subclasses to provide the specific build logic.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    */
-  virtual void build_impl(
-    const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<T> & values) = 0;
+  virtual void build_impl(const std::vector<double> & bases, const std::vector<T> & values) = 0;
 
   /**
    * @brief Validate the input to the compute method.
@@ -91,29 +88,30 @@ class InterpolatorCommonImpl
   [[nodiscard]] int32_t get_index(const double & s, bool end_inclusive = true) const
   {
     if (end_inclusive && s == end()) {
-      return static_cast<int32_t>(axis_.size()) - 2;
+      return static_cast<int32_t>(bases_.size()) - 2;
     }
     auto comp = [](const double & a, const double & b) { return a <= b; };
-    return std::distance(axis_.begin(), std::lower_bound(axis_.begin(), axis_.end(), s, comp)) - 1;
+    return std::distance(bases_.begin(), std::lower_bound(bases_.begin(), bases_.end(), s, comp)) -
+           1;
   }
 
 public:
   /**
-   * @brief Build the interpolator with the given axis and values.
+   * @brief Build the interpolator with the given bases and values.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    * @return True if the interpolator was built successfully, false otherwise.
    */
-  bool build(const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<T> & values)
+  bool build(const std::vector<double> & bases, const std::vector<T> & values)
   {
-    if (axis.size() != static_cast<Eigen::Index>(values.size())) {
+    if (bases.size() != values.size()) {
       return false;
     }
-    if (axis.size() < static_cast<Eigen::Index>(minimum_required_points())) {
+    if (bases.size() < minimum_required_points()) {
       return false;
     }
-    build_impl(axis, values);
+    build_impl(bases, values);
     return true;
   }
 
@@ -141,5 +139,5 @@ class InterpolatorCommonImpl
 }  // namespace autoware::motion_utils::trajectory_container::interpolator::detail
 
 // clang-format off
-#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_IMPL_HPP_  // NOLINT
+#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_INTERFACE_HPP_  // NOLINT
 // clang-format on
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp
new file mode 100644
index 0000000000000..d3957567c49b5
--- /dev/null
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp
@@ -0,0 +1,96 @@
+// Copyright 2024 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// clang-format off
+#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_  // NOLINT
+#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_  // NOLINT
+// clang-format on
+
+#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp"
+
+#include <Eigen/Dense>
+
+#include <memory>
+#include <optional>
+#include <utility>
+#include <vector>
+
+namespace autoware::motion_utils::trajectory_container::interpolator::detail
+{
+
+/**
+ * @brief Base class for interpolator implementations.
+ *
+ * This class implements the core functionality for interpolator implementations.
+ *
+ * @tparam InterpolatorType The type of the interpolator implementation.
+ * @tparam T The type of the values being interpolated.
+ */
+template <class InterpolatorType, class T>
+struct InterpolatorMixin : public InterpolatorInterface<T>
+{
+  std::shared_ptr<InterpolatorInterface<T>> clone() const override
+  {
+    return std::make_shared<InterpolatorType>(static_cast<const InterpolatorType &>(*this));
+  }
+
+  class Builder
+  {
+  private:
+    std::vector<double> bases_;
+    std::vector<double> values_;
+
+  public:
+    [[nodiscard]] Builder & set_bases(const Eigen::Ref<const Eigen::VectorXd> & bases)
+    {
+      bases_ = std::vector<double>(bases.begin(), bases.end());
+      return *this;
+    }
+
+    [[nodiscard]] Builder & set_bases(const std::vector<double> & bases)
+    {
+      bases_ = bases;
+      return *this;
+    }
+
+    [[nodiscard]] Builder & set_values(const std::vector<double> & values)
+    {
+      values_ = values;
+      return *this;
+    }
+
+    [[nodiscard]] Builder & set_values(const Eigen::Ref<const Eigen::VectorXd> & values)
+    {
+      values_ = std::vector<double>(values.begin(), values.end());
+      return *this;
+    }
+
+    template <typename... Args>
+    [[nodiscard]] std::optional<InterpolatorType> build(Args &&... args)
+    {
+      auto interpolator = InterpolatorType(std::forward<Args>(args)...);
+      bool success = interpolator.build(bases_, values_);
+      if (!success) {
+        return std::nullopt;
+      }
+      return interpolator;
+    }
+  };
+};
+
+}  // namespace autoware::motion_utils::trajectory_container::interpolator::detail
+
+// clang-format off
+#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_MIXIN_HPP_  // NOLINT
+// clang-format on
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp
index 9fd451bcdcf6e..ad0e2b98ef040 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp
@@ -17,11 +17,17 @@
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_  // NOLINT
 // clang-format on
 
-#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp"
 
 #include <vector>
 
-namespace autoware::motion_utils::trajectory_container::interpolator::detail
+namespace autoware::motion_utils::trajectory_container::interpolator
+{
+
+template <typename T>
+class NearestNeighbor;
+
+namespace detail
 {
 /**
  * @brief Common Implementation of nearest neighbor.
@@ -31,7 +37,7 @@ namespace autoware::motion_utils::trajectory_container::interpolator::detail
  * @tparam T The type of the values being interpolated.
  */
 template <typename T>
-class NearestNeighborCommonImpl : public Interpolator<T>
+class NearestNeighborCommonImpl : public detail::InterpolatorMixin<NearestNeighbor<T>, T>
 {
 protected:
   std::vector<T> values_;  ///< Interpolation values.
@@ -45,7 +51,7 @@ class NearestNeighborCommonImpl : public Interpolator<T>
   [[nodiscard]] T compute_impl(const double & s) const override
   {
     const int32_t idx = this->get_index(s);
-    return (std::abs(s - this->axis_[idx]) <= std::abs(s - this->axis_[idx + 1]))
+    return (std::abs(s - this->bases_[idx]) <= std::abs(s - this->bases_[idx + 1]))
              ? this->values_.at(idx)
              : this->values_.at(idx + 1);
   }
@@ -53,14 +59,13 @@ class NearestNeighborCommonImpl : public Interpolator<T>
   /**
    * @brief Build the interpolator with the given values.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    * @return True if the interpolator was built successfully, false otherwise.
    */
-  void build_impl(
-    const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<T> & values) override
+  void build_impl(const std::vector<double> & bases, const std::vector<T> & values) override
   {
-    this->axis_ = axis;
+    this->bases_ = bases;
     this->values_ = values;
   }
 
@@ -73,8 +78,8 @@ class NearestNeighborCommonImpl : public Interpolator<T>
   [[nodiscard]] size_t minimum_required_points() const override { return 1; }
 };
 
-}  // namespace autoware::motion_utils::trajectory_container::interpolator::detail
-
+}  // namespace detail
+}  // namespace autoware::motion_utils::trajectory_container::interpolator
 // clang-format off
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_  // NOLINT
 // clang-format on
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp
index 9ac5282429353..83b2275b0c121 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp
@@ -17,11 +17,17 @@
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_  // NOLINT
 // clang-format on
 
-#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp"
 
 #include <vector>
 
-namespace autoware::motion_utils::trajectory_container::interpolator::detail
+namespace autoware::motion_utils::trajectory_container::interpolator
+{
+
+template <typename T>
+class Stairstep;
+
+namespace detail
 {
 
 /**
@@ -32,7 +38,7 @@ namespace autoware::motion_utils::trajectory_container::interpolator::detail
  * @tparam T The type of the values being interpolated.
  */
 template <typename T>
-class StairstepCommonImpl : public Interpolator<T>
+class StairstepCommonImpl : public detail::InterpolatorMixin<Stairstep<T>, T>
 {
 protected:
   std::vector<T> values_;  ///< Interpolation values.
@@ -51,13 +57,12 @@ class StairstepCommonImpl : public Interpolator<T>
   /**
    * @brief Build the interpolator with the given values.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    */
-  void build_impl(
-    const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<T> & values) override
+  void build_impl(const std::vector<double> & bases, const std::vector<T> & values) override
   {
-    this->axis_ = axis;
+    this->bases_ = bases;
     this->values_ = values;
   }
 
@@ -72,8 +77,8 @@ class StairstepCommonImpl : public Interpolator<T>
    */
   [[nodiscard]] size_t minimum_required_points() const override { return 2; }
 };
-
-}  // namespace autoware::motion_utils::trajectory_container::interpolator::detail
+}  // namespace detail
+}  // namespace autoware::motion_utils::trajectory_container::interpolator
 
 // clang-format off
 #endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_  // NOLINT
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp
index f0b12a47819e8..03827ded59cb6 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_HPP_
 
-#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_interface.hpp"
 
 #include <memory>
 
@@ -29,10 +29,10 @@ namespace autoware::motion_utils::trajectory_container::interpolator
  * @tparam T The type of the values being interpolated. (e.g. double, int, etc.)
  */
 template <typename T>
-class Interpolator : public detail::InterpolatorCommonImpl<T>
+class InterpolatorInterface : public detail::InterpolatorCommonInterface<T>
 {
 public:
-  [[nodiscard]] virtual std::shared_ptr<Interpolator<T>> clone() const = 0;
+  [[nodiscard]] virtual std::shared_ptr<InterpolatorInterface<T>> clone() const = 0;
 };
 
 /**
@@ -41,7 +41,7 @@ class Interpolator : public detail::InterpolatorCommonImpl<T>
  * This class adds methods for computing first and second derivatives.
  */
 template <>
-class Interpolator<double> : public detail::InterpolatorCommonImpl<double>
+class InterpolatorInterface<double> : public detail::InterpolatorCommonInterface<double>
 {
 protected:
   /**
@@ -89,7 +89,7 @@ class Interpolator<double> : public detail::InterpolatorCommonImpl<double>
     return compute_second_derivative_impl(s);
   }
 
-  [[nodiscard]] virtual std::shared_ptr<Interpolator<double>> clone() const = 0;
+  [[nodiscard]] virtual std::shared_ptr<InterpolatorInterface<double>> clone() const = 0;
 };
 
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp
deleted file mode 100644
index 911adcb6545b6..0000000000000
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp
+++ /dev/null
@@ -1,77 +0,0 @@
-// Copyright 2024 Tier IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_CREATOR_HPP_
-#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_CREATOR_HPP_
-
-#include <Eigen/Dense>
-
-#include <optional>
-#include <utility>
-#include <vector>
-
-namespace autoware::motion_utils::trajectory_container::interpolator
-{
-
-// Forward declaration
-template <typename T>
-class Interpolator;
-
-template <typename InterpolatorType>
-class InterpolatorCreator
-{
-private:
-  Eigen::VectorXd axis_;
-  std::vector<double> values_;
-
-public:
-  [[nodiscard]] InterpolatorCreator & set_axis(const Eigen::Ref<const Eigen::VectorXd> & axis)
-  {
-    axis_ = axis;
-    return *this;
-  }
-
-  [[nodiscard]] InterpolatorCreator & set_axis(const std::vector<double> & axis)
-  {
-    axis_ = Eigen::Map<const Eigen::VectorXd>(axis.data(), static_cast<Eigen::Index>(axis.size()));
-    return *this;
-  }
-
-  [[nodiscard]] InterpolatorCreator & set_values(const std::vector<double> & values)
-  {
-    values_ = values;
-    return *this;
-  }
-
-  [[nodiscard]] InterpolatorCreator & set_values(const Eigen::Ref<const Eigen::VectorXd> & values)
-  {
-    values_ = std::vector<double>(values.begin(), values.end());
-    return *this;
-  }
-
-  template <typename... Args>
-  [[nodiscard]] std::optional<InterpolatorType> create(Args &&... args)
-  {
-    auto interpolator = InterpolatorType(std::forward<Args>(args)...);
-    bool success = interpolator.build(axis_, values_);
-    if (!success) {
-      return std::nullopt;
-    }
-    return interpolator;
-  }
-};
-
-}  // namespace autoware::motion_utils::trajectory_container::interpolator
-
-#endif  // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_CREATOR_HPP_
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp
index 9854b100f3742..99fcb469365b8 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp
@@ -15,11 +15,10 @@
 #ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__LINEAR_HPP_
 #define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__LINEAR_HPP_
 
-#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp"
+#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_mixin.hpp"
 
 #include <Eigen/Dense>
 
-#include <memory>
 #include <vector>
 
 namespace autoware::motion_utils::trajectory_container::interpolator
@@ -30,7 +29,7 @@ namespace autoware::motion_utils::trajectory_container::interpolator
  *
  * This class provides methods to perform linear interpolation on a set of data points.
  */
-class Linear : public Interpolator<double>
+class Linear : public detail::InterpolatorMixin<Linear, double>
 {
 private:
   Eigen::VectorXd values_;  ///< Interpolation values.
@@ -38,12 +37,11 @@ class Linear : public Interpolator<double>
   /**
    * @brief Build the interpolator with the given values.
    *
-   * @param axis The axis values.
+   * @param bases The bases values.
    * @param values The values to interpolate.
    * @return True if the interpolator was built successfully, false otherwise.
    */
-  void build_impl(
-    const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<double> & values) override;
+  void build_impl(const std::vector<double> & bases, const std::vector<double> & values) override;
 
   /**
    * @brief Compute the interpolated value at the given point.
@@ -81,13 +79,6 @@ class Linear : public Interpolator<double>
    * @return The minimum number of required points.
    */
   [[nodiscard]] size_t minimum_required_points() const override;
-
-  /**
-   * @brief Clone the interpolator.
-   *
-   * @return A shared pointer to the cloned interpolator.
-   */
-  [[nodiscard]] std::shared_ptr<Interpolator<double>> clone() const override;
 };
 
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp
index 32bff2d30b41d..72b61001b05e3 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp
@@ -17,8 +17,6 @@
 
 #include "autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp"
 
-#include <memory>
-
 namespace autoware::motion_utils::trajectory_container::interpolator
 {
 
@@ -44,16 +42,6 @@ class NearestNeighbor : public detail::NearestNeighborCommonImpl<T>
 {
 public:
   NearestNeighbor() = default;
-
-  /**
-   * @brief Clone the interpolator.
-   *
-   * @return A shared pointer to a new instance of the interpolator.
-   */
-  [[nodiscard]] std::shared_ptr<Interpolator<double>> clone() const override
-  {
-    return std::make_shared<NearestNeighbor<T>>(*this);
-  }
 };
 
 /**
@@ -83,16 +71,6 @@ class NearestNeighbor<double> : public detail::NearestNeighborCommonImpl<double>
 
 public:
   NearestNeighbor() = default;
-
-  /**
-   * @brief Clone the interpolator.
-   *
-   * @return A shared pointer to a new instance of the interpolator.
-   */
-  [[nodiscard]] std::shared_ptr<Interpolator<double>> clone() const override
-  {
-    return std::make_shared<NearestNeighbor<double>>(*this);
-  }
 };
 
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp
index 21bf57b46e3b7..801b207b25afc 100644
--- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp
+++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp
@@ -17,8 +17,6 @@
 
 #include "autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp"
 
-#include <memory>
-
 namespace autoware::motion_utils::trajectory_container::interpolator
 {
 
@@ -44,16 +42,6 @@ class Stairstep : public detail::StairstepCommonImpl<T>
 {
 public:
   Stairstep() = default;
-
-  /**
-   * @brief Clone the interpolator.
-   *
-   * @return A shared pointer to a new instance of the interpolator.
-   */
-  [[nodiscard]] std::shared_ptr<Interpolator<T>> clone() const override
-  {
-    return std::make_shared<Stairstep<T>>(*this);
-  }
 };
 
 /**
@@ -83,16 +71,6 @@ class Stairstep<double> : public detail::StairstepCommonImpl<double>
 
 public:
   Stairstep() = default;
-
-  /**
-   * @brief Clone the interpolator.
-   *
-   * @return A shared pointer to a new instance of the interpolator.
-   */
-  [[nodiscard]] std::shared_ptr<Interpolator<double>> clone() const override
-  {
-    return std::make_shared<Stairstep<double>>(*this);
-  }
 };
 
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp
index eb2fe2ab8deed..747362ac9167e 100644
--- a/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp
+++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp
@@ -17,18 +17,17 @@
 #include <Eigen/Dense>
 
 #include <cmath>
-#include <memory>
 #include <vector>
 
 namespace autoware::motion_utils::trajectory_container::interpolator
 {
 
 void AkimaSpline::compute_parameters(
-  const Eigen::Ref<const Eigen::VectorXd> & axis, const Eigen::Ref<const Eigen::VectorXd> & values)
+  const Eigen::Ref<const Eigen::VectorXd> & bases, const Eigen::Ref<const Eigen::VectorXd> & values)
 {
-  const auto n = static_cast<int32_t>(axis.size());
+  const auto n = static_cast<int32_t>(bases.size());
 
-  Eigen::VectorXd h = axis.tail(n - 1) - axis.head(n - 1);
+  Eigen::VectorXd h = bases.tail(n - 1) - bases.head(n - 1);
 
   Eigen::VectorXd m(n - 1);
   for (int32_t i = 0; i < n - 1; ++i) {
@@ -61,39 +60,33 @@ void AkimaSpline::compute_parameters(
   }
 }
 
-void AkimaSpline::build_impl(
-  const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<double> & values)
+void AkimaSpline::build_impl(const std::vector<double> & bases, const std::vector<double> & values)
 {
-  this->axis_ = axis;
+  this->bases_ = bases;
   compute_parameters(
-    this->axis_,
+    Eigen::Map<const Eigen::VectorXd>(bases.data(), static_cast<Eigen::Index>(bases.size())),
     Eigen::Map<const Eigen::VectorXd>(values.data(), static_cast<Eigen::Index>(values.size())));
 }
 
 double AkimaSpline::compute_impl(const double & s) const
 {
   const int32_t i = this->get_index(s);
-  const double dx = s - this->axis_[i];
+  const double dx = s - this->bases_[i];
   return a_[i] + b_[i] * dx + c_[i] * dx * dx + d_[i] * dx * dx * dx;
 }
 
 double AkimaSpline::compute_first_derivative_impl(const double & s) const
 {
   const int32_t i = this->get_index(s);
-  const double dx = s - this->axis_[i];
+  const double dx = s - this->bases_[i];
   return b_[i] + 2 * c_[i] * dx + 3 * d_[i] * dx * dx;
 }
 
 double AkimaSpline::compute_second_derivative_impl(const double & s) const
 {
   const int32_t i = this->get_index(s);
-  const double dx = s - this->axis_[i];
+  const double dx = s - this->bases_[i];
   return 2 * c_[i] + 6 * d_[i] * dx;
 }
 
-std::shared_ptr<Interpolator<double>> AkimaSpline::clone() const
-{
-  return std::make_shared<AkimaSpline>(*this);
-}
-
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp
index db25816d1d457..e464fc7cd0511 100644
--- a/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp
+++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp
@@ -20,15 +20,15 @@ namespace autoware::motion_utils::trajectory_container::interpolator
 {
 
 void CubicSpline::compute_parameters(
-  const Eigen::Ref<const Eigen::VectorXd> & axis, const Eigen::Ref<const Eigen::VectorXd> & values)
+  const Eigen::Ref<const Eigen::VectorXd> & bases, const Eigen::Ref<const Eigen::VectorXd> & values)
 {
-  const int32_t n = static_cast<int32_t>(axis.size()) - 1;
+  const int32_t n = static_cast<int32_t>(bases.size()) - 1;
 
-  h_ = axis.tail(n) - axis.head(n);
+  h_ = bases.tail(n) - bases.head(n);
   a_ = values.transpose();
 
   for (int32_t i = 0; i < n; ++i) {
-    h_(i) = axis(i + 1) - axis(i);
+    h_(i) = bases(i + 1) - bases(i);
   }
 
   Eigen::VectorXd alpha(n - 1);
@@ -43,7 +43,7 @@ void CubicSpline::compute_parameters(
   mu(0) = z(0) = 0.0;
 
   for (int32_t i = 1; i < n; ++i) {
-    l(i) = 2.0 * (axis(i + 1) - axis(i - 1)) - h_(i - 1) * mu(i - 1);
+    l(i) = 2.0 * (bases(i + 1) - bases(i - 1)) - h_(i - 1) * mu(i - 1);
     mu(i) = h_(i) / l(i);
     z(i) = (alpha(i - 1) - h_(i - 1) * z(i - 1)) / l(i);
   }
@@ -61,39 +61,33 @@ void CubicSpline::compute_parameters(
   }
 }
 
-void CubicSpline::build_impl(
-  const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<double> & values)
+void CubicSpline::build_impl(const std::vector<double> & bases, const std::vector<double> & values)
 {
-  this->axis_ = axis;
+  this->bases_ = bases;
   compute_parameters(
-    this->axis_,
+    Eigen::Map<const Eigen::VectorXd>(bases.data(), static_cast<Eigen::Index>(bases.size())),
     Eigen::Map<const Eigen::VectorXd>(values.data(), static_cast<Eigen::Index>(values.size())));
 }
 
 double CubicSpline::compute_impl(const double & s) const
 {
   const int32_t i = this->get_index(s);
-  const double dx = s - this->axis_(i);
+  const double dx = s - this->bases_.at(i);
   return a_(i) + b_(i) * dx + c_(i) * dx * dx + d_(i) * dx * dx * dx;
 }
 
 double CubicSpline::compute_first_derivative_impl(const double & s) const
 {
   const int32_t i = this->get_index(s);
-  const double dx = s - this->axis_(i);
+  const double dx = s - this->bases_.at(i);
   return b_(i) + 2 * c_(i) * dx + 3 * d_(i) * dx * dx;
 }
 
 double CubicSpline::compute_second_derivative_impl(const double & s) const
 {
   const int32_t i = this->get_index(s);
-  const double dx = s - this->axis_(i);
+  const double dx = s - this->bases_.at(i);
   return 2 * c_(i) + 6 * d_(i) * dx;
 }
 
-std::shared_ptr<Interpolator<double>> CubicSpline::clone() const
-{
-  return std::make_shared<CubicSpline>(*this);
-}
-
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp
index c3e4ec99c4357..fb714b208772c 100644
--- a/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp
+++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp
@@ -16,16 +16,14 @@
 
 #include <Eigen/Dense>
 
-#include <memory>
 #include <vector>
 
 namespace autoware::motion_utils::trajectory_container::interpolator
 {
 
-void Linear::build_impl(
-  const Eigen::Ref<const Eigen::VectorXd> & axis, const std::vector<double> & values)
+void Linear::build_impl(const std::vector<double> & bases, const std::vector<double> & values)
 {
-  this->axis_ = axis;
+  this->bases_ = bases;
   this->values_ =
     Eigen::Map<const Eigen::VectorXd>(values.data(), static_cast<Eigen::Index>(values.size()));
 }
@@ -33,8 +31,8 @@ void Linear::build_impl(
 double Linear::compute_impl(const double & s) const
 {
   const int32_t idx = this->get_index(s);
-  const double x0 = this->axis_(idx);
-  const double x1 = this->axis_(idx + 1);
+  const double x0 = this->bases_.at(idx);
+  const double x1 = this->bases_.at(idx + 1);
   const double y0 = this->values_(idx);
   const double y1 = this->values_(idx + 1);
   return y0 + (y1 - y0) * (s - x0) / (x1 - x0);
@@ -43,8 +41,8 @@ double Linear::compute_impl(const double & s) const
 double Linear::compute_first_derivative_impl(const double & s) const
 {
   const int32_t idx = this->get_index(s);
-  const double x0 = this->axis_(idx);
-  const double x1 = this->axis_(idx + 1);
+  const double x0 = this->bases_.at(idx);
+  const double x1 = this->bases_.at(idx + 1);
   const double y0 = this->values_(idx);
   const double y1 = this->values_(idx + 1);
   return (y1 - y0) / (x1 - x0);
@@ -59,10 +57,4 @@ size_t Linear::minimum_required_points() const
 {
   return 2;
 }
-
-std::shared_ptr<Interpolator<double>> Linear::clone() const
-{
-  return std::make_shared<Linear>(*this);
-}
-
 }  // namespace autoware::motion_utils::trajectory_container::interpolator
diff --git a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp
index 77f7af0eae93f..82c387c416436 100644
--- a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp
+++ b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp
@@ -15,7 +15,6 @@
 #include <autoware/motion_utils/trajectory_container/interpolator.hpp>
 
 #include <gtest/gtest.h>
-#include <gtest/internal/gtest-type-util.h>
 
 #include <optional>
 #include <random>
@@ -26,7 +25,7 @@ class TestInterpolator : public ::testing::Test
 {
 public:
   std::optional<Interpolator> interpolator;
-  std::vector<double> axis;
+  std::vector<double> bases;
   std::vector<double> values;
 
   void SetUp() override
@@ -35,10 +34,10 @@ class TestInterpolator : public ::testing::Test
     std::random_device rd;
     std::mt19937 gen(rd());
     std::uniform_real_distribution<> dis(-1, 1);
-    axis.resize(10);
+    bases.resize(10);
     values.resize(10);
-    for (size_t i = 0; i < axis.size(); ++i) {
-      axis[i] = static_cast<double>(i);
+    for (size_t i = 0; i < bases.size(); ++i) {
+      bases[i] = static_cast<double>(i);
       values[i] = dis(gen);
     }
   }
@@ -55,11 +54,10 @@ TYPED_TEST_SUITE(TestInterpolator, Interpolators, );
 
 TYPED_TEST(TestInterpolator, compute)
 {
-  using autoware::motion_utils::trajectory_container::interpolator::InterpolatorCreator;
   this->interpolator =
-    InterpolatorCreator<TypeParam>().set_axis(this->axis).set_values(this->values).create();
-  for (size_t i = 0; i < this->axis.size(); ++i) {
-    EXPECT_NEAR(this->values[i], this->interpolator->compute(this->axis[i]), 1e-6);
+    typename TypeParam::Builder().set_bases(this->bases).set_values(this->values).build();
+  for (size_t i = 0; i < this->bases.size(); ++i) {
+    EXPECT_NEAR(this->values[i], this->interpolator->compute(this->bases[i]), 1e-6);
   }
 }