Add trajectory_parameterization parameter to CartesianPath & JointInterpolationPlanner#333

JafarAbdi wants to merge 2 commits intomoveit:mastermoveit/moveit_task_constructor:masterfrom

JafarAbdi:pr-trajectory_processing_refactorJafarAbdi/moveit_task_constructor:pr-trajectory_processing_refactorCopy head branch name to clipboard