Test/pilz interpolation params #2
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this ensures that the new sample time will be lowered, thus not violating precomputed distance interpolation constraints at the same time avoids the issue on the last point generating small displacement interpolation
… trajectories from `pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow`
- computes shift of the second_trajectory using average instead of max. (this shift may be exactly the sample_time of the second trajectory if uniform) - reduces sampling_time that approximates continuous time to 0.001 increasing the minimum distance between points to 1mm - ensures the addition of the first and the last points Tests: - adapts `checkBlendingJointSpaceContinuity` and `checkBlendingCartSpaceContinuity` acceleration computations to take into account different time samples among the trajectories - fixes occurrences of `joint_velocity_tolerance` and `joint_accleration_tolerance` in `checkBlendingJointSpaceContinuity` - adjust `checkBlendingCartSpaceContinuity` to return False in case of failed checks
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