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Implement more tests for trajectory forwarding #722

@fmauch

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@fmauch

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Currently, we have one test testing trajectory forwarding. This sends a trajectory for execution that is using the driver's default forwarding method which is spline interpolation. This has been fixed in #721 which revealed a couple of options we should also test for:

  • Use the movej-based trajectory execution
  • Use a quintic spline for trajectory execution
  • Check that sending in a position-only spline interpolation will fail

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