[JTC] Angle wraparound for first segment of trajectory (backport #796)

[mergify]

This is an automatic backport of pull request #796 done by Mergify.

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[codecov]

Codecov Report

Attention: Patch coverage is 84.61538% with 2 lines in your changes are missing coverage. Please review.

Project coverage is 72.15%. Comparing base (333beb0) to head (9e9ae73).

❗ Current head 9e9ae73 differs from pull request most recent head 6187f83. Consider uploading reports for the commit 6187f83 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #1033      +/-   ##
==========================================
+ Coverage   72.12%   72.15%   +0.02%     
==========================================
  Files          40       40              
  Lines        3555     3566      +11     
  Branches     1787     1792       +5     
==========================================
+ Hits         2564     2573       +9     
- Misses        679      686       +7     
+ Partials      312      307       -5     

Flag	Coverage Δ
unittests	72.15% <84.61%> (+0.02%)	⬆️

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

Files	Coverage Δ
...jectory_controller/joint_trajectory_controller.hpp	100.00% <ø> (ø)
...include/joint_trajectory_controller/trajectory.hpp	73.33% <ø> (ø)
...ory_controller/src/joint_trajectory_controller.cpp	80.36% <100.00%> (+0.05%)	⬆️
joint_trajectory_controller/src/trajectory.cpp	89.67% <77.77%> (-0.62%)	⬇️

... and 1 file with indirect coverage changes