Pass joint/cartesian velocity object to move commands

[PeterBowman]

As similarly done in RAPID, make movj and movl (and movc? see #135) accept a velocity parameter. Generated trajectories should conform to these values when performing the movement.

Implementation note: we added a configuration parameter (#121) that allows to set a velocity reference on runtime. This is used in a twofold manner:

• generate isochronous joint trajectories with the specified nominal velocity (movj)
• forbid dangerous trajectories that exceed the software velocity limit (movl, movv, twist, pose)

This issue addresses the former, while roboticslab-uc3m/yarp-devices#188 will add low-level support for the latter. As a result, the maximum joint velocity (cpjv) parameter shall be removed.

[PeterBowman]

forbid dangerous trajectories that exceed the software velocity limit (movl, movv, twist, pose)

See #161.

[PeterBowman]

Blocked by #157. We want to drop the time configuration parameter and generate movl/movc trajectories using the velocity argument provided via API call.

[PeterBowman]

This issue addresses the former, while roboticslab-uc3m/yarp-devices#188 will add low-level support for the latter. As a result, the maximum joint velocity (cpjv) parameter shall be removed.

Done at 89020af, the software velocity limit will be fetched from the robot via .ini parameter (thus no need to compute instantaneous values).