[JTC] Cleanup API #1128
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[JTC] Cleanup API #1128
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The last bullet point and closes #944.
The methods
all used class variables, like dof_ and so on. I moved them to a separate file as proposed, and wrote additional unit tests.
I used the JTC-GPL-parameter struct as function arguments, but this makes these methods not really standalone without JTC.
The logic is almost identical, except for
sort_to_local_joint_orderwhere I also updated the joint_names field// might not be used any more, but to get a genuine msg trajectory_msg->joint_names = params.joints;