Update time parameterization interface

[Levi-Armstrong]

Update time parameterization interface to leverage profiles to support cartesian time parameterization

[codecov]

Codecov Report

Attention: Patch coverage is 86.95652% with 54 lines in your changes missing coverage. Please review.

Project coverage is 77.40%. Comparing base (3f179ed) to head (7b1bc41).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...src/iterative_spline_parameterization_profiles.cpp	30.30%	23 Missing ⚠️
...rc/time_optimal_trajectory_generation_profiles.cpp	33.33%	10 Missing ⚠️
...tion/isp/src/iterative_spline_parameterization.cpp	80.95%	8 Missing ⚠️
...uckig/src/ruckig_trajectory_smoothing_profiles.cpp	0.00%	5 Missing ⚠️
...on/totg/src/time_optimal_trajectory_generation.cpp	89.65%	3 Missing ⚠️
...ameterization/core/src/instructions_trajectory.cpp	80.00%	2 Missing ⚠️
...arameterization/core/src/time_parameterization.cpp	60.00%	2 Missing ⚠️
...ization/ruckig/src/ruckig_trajectory_smoothing.cpp	95.83%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #624      +/-   ##
==========================================
+ Coverage   77.19%   77.40%   +0.21%     
==========================================
  Files         229      227       -2     
  Lines       13926    13916      -10     
==========================================
+ Hits        10750    10772      +22     
+ Misses       3176     3144      -32     

Files with missing lines	Coverage Δ
...anners/descartes/impl/descartes_motion_planner.hpp	50.47% <100.00%> (-1.82%)	⬇️
...t_motion_planners/ompl/src/ompl_motion_planner.cpp	72.67% <100.00%> (-0.32%)	⬇️
...tion_planners/simple/src/simple_motion_planner.cpp	74.16% <100.00%> (-0.84%)	⬇️
...on_planners/trajopt/src/trajopt_motion_planner.cpp	45.37% <100.00%> (ø)
...ing/nodes/iterative_spline_parameterization_task.h	100.00% <ø> (ø)
...anning/src/nodes/continuous_contact_check_task.cpp	85.71% <100.00%> (ø)
...planning/src/nodes/discrete_contact_check_task.cpp	87.32% <100.00%> (ø)
...poser/planning/src/nodes/fix_state_bounds_task.cpp	92.80% <100.00%> (ø)
...er/planning/src/nodes/fix_state_collision_task.cpp	42.23% <100.00%> (ø)
...c/nodes/iterative_spline_parameterization_task.cpp	80.00% <100.00%> (-2.70%)	⬇️
... and 24 more

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