refactor to use drake preferred methods for sending polynomial plans to the robot #54
Description
We use polynomial_encode_decode.h as our core methods to send command messages to the robot.
In drake this was moved to attic in 2019 and was since completely removed from drake, why do we still need it?
RobotLocomotion/drake#12283
Polynomials and nomenclature are changing in drake now - see:
RobotLocomotion/drake#12939
RobotLocomotion/drake#12941
Upgrade our naming and methodology to match drake