refactor(jtc): improve jtc tolerances

[thedevmystic]

Hello respected maintainers and reviewers!
This is Surya!

This PR addresses the following:

• Seperate declaration from definition for better compilation speed and readability.
• Refactor functions for better readability.
• Add new function (create_error_trajectory_point).
• Add extensive doxygen-style comments.
• Add tests for new function (create_error_trajectory_point).

---

1. If you have question, why I moved (or seperated) it to tolerances.cpp it is because the file was getting way too long for no reason. It would both increase compile time and future maintainance.

2. If you have question, why I added create_error_trajectory_point it is because we can calculate the current error point and then compare it with tolerances with ease!

---

A note: This is a continuation of the previous PR #2048 (closed now). Instead of doing new features (new tolerances option) and refactoring in one PR. I split them into 2 PRs one doing refactoring (current) and another future PR adding feature.

[codecov]

Codecov Report

❌ Patch coverage is 92.70073% with 10 lines in your changes missing coverage. Please review.
✅ Project coverage is 84.90%. Comparing base (272ac69) to head (fd82eab).

Files with missing lines	Patch %	Lines
...include/joint_trajectory_controller/tolerances.hpp	70.58%	6 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2133      +/-   ##
==========================================
+ Coverage   84.80%   84.90%   +0.10%     
==========================================
  Files         151      152       +1     
  Lines       14836    14890      +54     
  Branches     1286     1296      +10     
==========================================
+ Hits        12581    12642      +61     
+ Misses       1784     1779       -5     
+ Partials      471      469       -2     

Flag	Coverage Δ
unittests	84.90% <92.70%> (+0.10%)	⬆️

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

Files with missing lines	Coverage Δ
joint_trajectory_controller/src/tolerances.cpp	100.00% <100.00%> (ø)
...int_trajectory_controller/test/test_tolerances.cpp	100.00% <100.00%> (ø)
...include/joint_trajectory_controller/tolerances.hpp	74.00% <70.58%> (-5.80%)	⬇️

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[thedevmystic]

Just dropping a comment since it's been 2 weeks with no follow ups :)

[thedevmystic]

P.S.

Initially I didn't knew create_error_trajectory_point already has been implemented.

---

While we have compute_error_for_point in joint_trajectory_controller.hpp, that file is almost 2000 lines long.
So, we can move that logic from there to here. This function utilizes STL's std::transform and has hardened checks. And it also makes sense to put it here, as we create error point to check it with tolerances anyways.

---

But if we have to remove it then say it to me :)

[thedevmystic]

@christophfroehlich, sorry to tag you. But it's been almost 4 weeks without any follow-up. Thank you, and willing to make changes to suit the project!