Type safety for CartesianInterpolator (backport #1325)

[mergify]

This is an automatic backport of pull request #1325 done by Mergify.

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[codecov]

Codecov Report

Merging #1375 (c663b08) into humble (6288b0d) will decrease coverage by 0.03%.
The diff coverage is 42.31%.

@@            Coverage Diff             @@
##           humble    #1375      +/-   ##
==========================================
- Coverage   61.48%   61.45%   -0.02%     
==========================================
  Files         274      274              
  Lines       24940    24956      +16     
==========================================
+ Hits        15332    15335       +3     
- Misses       9608     9621      +13     

Impacted Files	Coverage Δ
...nclude/moveit/robot_state/cartesian_interpolator.h	57.90% <41.67%> (-27.81%)	⬇️
...it_core/robot_state/src/cartesian_interpolator.cpp	39.42% <42.86%> (-0.43%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	75.36% <0.00%> (-1.07%)	⬇️

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