Fill point_before_trajectory with same information as trajectory (backport #2043)

[mergify]

When executing a trajectory with a start time in the future, the trajectory interpolation will create a setpoint at the robot's current configuration based on the state interface information.

However, when the state interface for example doesn't have acceleration information, but the trajectory does contain position, velocity and acceleration, the segment from the current state to the first trajectory point will not use quintic spline interpolation, though the rest of the trajectory will.

This commit fills the current state with velocity and acceleration information if it is not given in the state interfaces but it is defined in the trajectory's first point.

This fixes #2015

Velocity profile with first point in the future / at other position without this PR applied:

Velocity profile with first point in the future / at other position with this PR applied:

I know that this is strictly speaking behavior changing, but I would nevertheless consider this a bugfix. This could, of course get an opt-in parameter on released versions to avoid the behavior change if desired.

---

This is an automatic backport of pull request #2043 done by Mergify.

[codecov]

Codecov Report

❌ Patch coverage is 85.71429% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 67.65%. Comparing base (a0a562a) to head (e3e81c6).
⚠️ Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
...int_trajectory_controller/test/test_trajectory.cpp	83.78%	0 Missing and 6 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #2049      +/-   ##
==========================================
+ Coverage   67.62%   67.65%   +0.02%     
==========================================
  Files         126      126              
  Lines       14314    14356      +42     
  Branches     9100     9125      +25     
==========================================
+ Hits         9680     9712      +32     
- Misses       1406     1408       +2     
- Partials     3228     3236       +8     

Flag	Coverage Δ
unittests	67.65% <85.71%> (+0.02%)	⬆️

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Files with missing lines	Coverage Δ
joint_trajectory_controller/src/trajectory.cpp	88.08% <100.00%> (-1.82%)	⬇️
...int_trajectory_controller/test/test_trajectory.cpp	63.80% <83.78%> (+1.24%)	⬆️

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