Remove Iterative Spline and Iterative Parabola time-param algorithms (v2)

[AndyZe]

We've been using TOTG by default for awhile now. The only drawback of TOTG I'm aware of is that it can't handle nonzero initial or final velocities/accelerations. So I was thinking that would be a reason to keep the older algorithms (ISTP and IPTP). But, I added a little test and it looks like neither of those algorithms handles it either. Even worse -- they just fail without throwing any error. So I think we should delete them.

3 commits:

• The first commit adds a simple test for IPTP. The test passes but the output is wrong. (It didn't do anything.)

20: [ RUN      ] TestTimeParameterization.NonzeroInitialVelAccel
20: Trajectory has 2 points over 0.000 seconds
20:   waypoint   0 time 0.000 pos  0.000 vel  0.000 acc  0.000
20:   waypoint   1 time 0.000 pos  0.000 vel  0.000 acc  0.000
20: [       OK ] TestTimeParameterization.NonzeroInitialVelAccel (0 ms)

• The second commit adds a simple test for ISTP. Again, the test passes but the output is wrong. The state at the final waypoint should be (position, vel, accel) == (0.01, 0.1, 0.2).

20: [ RUN      ] TestTimeParameterization.NonzeroInitialVelAccel
20: Trajectory has 4 points over 0.343 seconds
20:   waypoint   0 time 0.000 pos  0.000 vel  0.000 acc  0.742
20:   waypoint   1 time 0.118 pos  0.003 vel  0.021 acc -0.394
20:   waypoint   2 time 0.253 pos  0.005 vel  0.029 acc  0.526
20:   waypoint   3 time 0.343 pos  0.010 vel  0.100 acc  1.036
20: [       OK ] TestTimeParameterization.NonzeroInitialVelAccel (0 ms)

• The third commit deletes both of the plugins.

Note, this is a rebased version of #1191. I wasn't able to re-open that PR because "the branch was recreated or force-pushed." I'm re-opening the PR because there is new interest in changing the API of TOTG. Specifically, some want to be able to change tolerances or timesteps without constructing a new TOTG object.

[codecov]

Codecov Report

Base: 50.90% // Head: 50.25% // Decreases project coverage by -0.65% ⚠️

Coverage data is based on head (7dd8eee) compared to base (86991d1).
Patch has no changes to coverable lines.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1780      +/-   ##
==========================================
- Coverage   50.90%   50.25%   -0.64%     
==========================================
  Files         378      374       -4     
  Lines       31728    31274     -454     
==========================================
- Hits        16149    15715     -434     
+ Misses      15579    15559      -20     

Impacted Files	Coverage Δ
...eit_core/robot_trajectory/src/robot_trajectory.cpp	56.65% <0.00%> (-10.40%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	47.87% <0.00%> (-0.07%)	⬇️
...include/moveit/robot_trajectory/robot_trajectory.h	98.67% <0.00%> (-0.03%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	79.93% <0.00%> (+1.14%)	⬆️

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[tylerjw]

Deleting code is an easy approve. Thank you for looking into this and determining we shouldn't keep this.