Fix: TOTG can return vels/accels greater than the limits

[AndyZe]

This is a 2-line bug fix for this test failure:

/home/andy/ws_moveit/src/moveit/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp:395: Failure
The difference between trajectory.getAcceleration(time)[0] and max_accelerations[0] is 4, which exceeds 1e-3, where
trajectory.getAcceleration(time)[0] evaluates to 32,
max_accelerations[0] evaluates to 28, and
1e-3 evaluates to 0.001.
Time: 0.01
/home/andy/ws_moveit/src/moveit/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp:395: Failure
The difference between trajectory.getAcceleration(time)[0] and max_accelerations[0] is 28, which exceeds 1e-3, where
trajectory.getAcceleration(time)[0] evaluates to 0,
max_accelerations[0] evaluates to 28, and
1e-3 evaluates to 0.001.
Time: 0.02

[codecov]

Codecov Report

Patch coverage: 85.72% and project coverage change: -0.72 ⚠️

Comparison is base (c7d8a19) 61.79% compared to head (b25f9b8) 61.06%.

❗ Current head b25f9b8 differs from pull request most recent head 19fa271. Consider uploading reports for the commit 19fa271 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #3394      +/-   ##
==========================================
- Coverage   61.79%   61.06%   -0.72%     
==========================================
  Files         380      380              
  Lines       33605    33616      +11     
==========================================
- Hits        20762    20524     -238     
- Misses      12843    13092     +249     

Impacted Files	Coverage Δ
...ry_processing/time_optimal_trajectory_generation.h	50.00% <ø> (-50.00%)	⬇️
...cessing/src/time_optimal_trajectory_generation.cpp	42.46% <85.72%> (-47.48%)	⬇️

... and 4 files with indirect coverage changes

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[AndyZe]

Note that time_step is already calculated a few lines above.

I think this deleted line was intended to improve accuracy but it caused the bug where getAcceleration() returned values over the limit.

The accuracy should still be good if TOTG is run with a small timestep. The default timestep is 0.001. https://github.com/ros-planning/moveit/blob/9fd645d76d0a4fbdbf55f8aecb09fd5a31a63e1a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp#L994