hard coded constants

[gavanderhoorn]

There are a nr of hard coded constants (in the current implementation of the adapter) that influence the way TOTG will process the incoming trajectory and generate velocities and accelerations for it.

At the very least those should be turned into ROS parameters, so they can be changed without having to recompile anything.

Constants / magic nrs to consider:

• default acceleration limit (a_max)
• default velocity limit (v_max)
• timestep (0.001)
• the value for maxDeviation in the Path ctor (0.1)
• value used for subsampling of the TOTG Trajectory result (0.025)

[gavanderhoorn]

Perhaps making them dynamically reconfigurable would be even nicer.