Add a version of TOTG computeTimeStamps() for a fixed num waypoints

[AndyZe]

Fixes #1769

[codecov]

Codecov Report

Base: 50.92% // Head: 50.93% // Increases project coverage by +0.01% 🎉

Coverage data is based on head (f4cce24) compared to base (50b03a1).
Patch coverage: 77.78% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1771      +/-   ##
==========================================
+ Coverage   50.92%   50.93%   +0.01%     
==========================================
  Files         378      378              
  Lines       31671    31680       +9     
==========================================
+ Hits        16126    16132       +6     
- Misses      15545    15548       +3     

Impacted Files	Coverage Δ
...ry_processing/time_optimal_trajectory_generation.h	100.00% <ø> (ø)
...cessing/src/time_optimal_trajectory_generation.cpp	88.26% <77.78%> (-0.16%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	47.83% <0.00%> (-0.07%)	⬇️

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[sjahr]

I think this is a useful feature of people know what they're doing

[sjahr]

I think the documentation is good now. If you don't like the small clarification of your comment I suggested, feel free to reject it

[henningkayser]

@AndyZe it's actually error-prone that resample_dt_ is being changed implicitly by the new computeTimeStamps() function. The other member functions have been const for a reason, namely to allow repeatable results. Now the results of the old computeTimeStamps() depends on if the new function has been called and whatever num_waypoints has been used. Please fix that, either by implementing a free function that creates two instances of TOTG (one for each resample_dt), or by providing a private computeTimeStampsInternal function that accepts resample_dt as argument so that you can call that one twice without changing the member variable.

[AndyZe]

OK, I'll fix this soon