Refactoring to motion_primitives_base_controller to support PR #1858

[mathias31415]

This pull request supports PR #1858 . Shared functionality of the motion_primitives forward and from_trajectory controllers has been moved to a common base controller. To make reviewing easier, this first PR only extracts the functionality of the forward controller. In a subsequent PR, the from_trajectory controller will then be added.

This PR is marked as a draft because it depends on PR #1636 , which has not yet been merged.

[mergify]

This pull request is in conflict. Could you fix it @mathias31415?

[codecov]

Codecov Report

❌ Patch coverage is 68.62745% with 32 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.10%. Comparing base (5ed4fa5) to head (531734e).
⚠️ Report is 4 commits behind head on master.

Files with missing lines	Patch %	Lines
...trollers/src/motion_primitives_base_controller.cpp	65.59%	27 Missing and 5 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1857      +/-   ##
==========================================
- Coverage   85.12%   85.10%   -0.03%     
==========================================
  Files         138      140       +2     
  Lines       13547    13559      +12     
  Branches     1188     1187       -1     
==========================================
+ Hits        11532    11539       +7     
- Misses       1620     1626       +6     
+ Partials      395      394       -1     

Flag	Coverage Δ
unittests	85.10% <68.62%> (-0.03%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
..._controllers/motion_primitives_base_controller.hpp	100.00% <ø> (ø)
...ntrollers/motion_primitives_forward_controller.hpp	100.00% <100.00%> (ø)
...llers/src/motion_primitives_forward_controller.cpp	32.25% <100.00%> (ø)
...test_load_motion_primitives_forward_controller.cpp	100.00% <100.00%> (ø)
...test/test_motion_primitives_forward_controller.cpp	97.36% <100.00%> (ø)
...test/test_motion_primitives_forward_controller.hpp	89.06% <100.00%> (ø)
...trollers/src/motion_primitives_base_controller.cpp	65.59% <65.59%> (ø)

... and 1 file with indirect coverage changes

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[christophfroehlich]

Overall LGTM, but I have some minor comments

[christophfroehlich]

why this change?

[mathias31415]

The action was sometimes not properly finished with SUCCESSFUL, because was_executing_ was reset too early.
When transitioning from EXECUTING → SUCCESS, the action should end with SUCCESSFUL, which is why the flag was_executing_ is checked here.
The flag should only be reset if the action is canceled (STOPPED) or in case of an error (ERROR).

However, I should remove this completely and not just comment it out.

[christophfroehlich]

I merge this without another review as it does not change the behavior but only refactors some stuff.