Extract and import ASIBOT's analytical cartesian solver from asibot-main repo

[PeterBowman]

Currently implemented as a yarp::dev::ICartesianControl (path), should be stripped from any control loops and repurposed as a teo::ICartesianSolver.

Full migration plan: roboticslab-uc3m/asibot-main#28.

[PeterBowman]

WIP at the asibot-cartesian-solver branch.

[PeterBowman]

Just wanted to note that there are some conversion operations left in CartesianServerLib/xCallbackPort.cpp at which I'd like to take a look.

[PeterBowman]

CartesianBot implements tool tip calculations, but we lack a proper interface. Perhaps blocked until #95 is resolved?

[jgvictores]

CartesianBot implements tool tip calculations, but we lack a proper interface. Perhaps blocked until #95 is resolved?

Yes, I agree.

[PeterBowman]

The TrajGen.h library I've imported along with ASIBOT's solver could be easily replaced by KDL::VelocityProfile_Spline.

[PeterBowman]

Good enough at 974de24, follow-ups include:

• Implement tool-related methods in AsibotSolver #108 (unimplemented ICartesianControl methods)
• [AsibotSolver] Avoid singularites or act upon them accordingly #109 (investigate singularities)
• Compare output of unit tests for AsibotSolver with KDL results #110 (enhance unit tests)
• Allow rotations greater than 180º #111 (don't restrict rotations to 180º)
• [AsibotSolver] Apply custom world and tool reference frames #112 (apply custom world and tool reference frames)

I've left the TrajGen.hpp file mostly as is, but it does not intervene at all in the compilation process. It might be re-used as an alternative to current trajectory generators at BasicCartesianControl, which in turn would require more work than it was initially planned at here.