Spline merge

[urrsk]

Added Forward Spline interpolation to make the robot handle spline by it self
An attempt to merge #103

[codecov]

Codecov Report

Patch coverage: 88.46% and project coverage change: +1.28 🎉

Comparison is base (d5ac71a) 69.54% compared to head (ac8f9c2) 70.83%.

❗ Current head ac8f9c2 differs from pull request most recent head d9cba8b. Consider uploading reports for the commit d9cba8b to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #151      +/-   ##
==========================================
+ Coverage   69.54%   70.83%   +1.28%     
==========================================
  Files          69       69              
  Lines        2476     2527      +51     
  Branches      314      322       +8     
==========================================
+ Hits         1722     1790      +68     
+ Misses        576      558      -18     
- Partials      178      179       +1     

Impacted Files	Coverage Δ
...lient_library/control/trajectory_point_interface.h	100.00% <ø> (ø)
include/ur_client_library/ur/ur_driver.h	71.42% <ø> (+11.42%)	⬆️
src/ur/ur_driver.cpp	51.80% <75.00%> (+2.83%)	⬆️
src/control/trajectory_point_interface.cpp	81.25% <90.90%> (+9.45%)	⬆️

... and 4 files with indirect coverage changes

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[fmauch]

Thank you @urrsk for cleaning this up. There are a couple of comments left I've done in #103. I've added them to this PR.

[fmauch]

Note to myself: @urmahp should be noted as coauthor in the merge.

Co-authored-by: Mads Holm Peters <[email protected]>

[fmauch]

This is looking good and I tested it with the example and the ROS1 driver PR.