[JTC] Continue with last trajectory-point on success

[christophfroehlich]

As discussed in #811: Continue with last trajectory point on success, instead of hold-position from current state.

Closes #811 and closes #759.

[codecov]

Codecov Report

Merging #842 (5d8142f) into master (3555685) will decrease coverage by 0.45%.
Report is 1 commits behind head on master.
The diff coverage is 33.33%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #842      +/-   ##
==========================================
- Coverage   47.22%   46.77%   -0.45%     
==========================================
  Files          40       40              
  Lines        3636     3641       +5     
  Branches     1716     1719       +3     
==========================================
- Hits         1717     1703      -14     
- Misses        735      749      +14     
- Partials     1184     1189       +5     

Flag	Coverage Δ
unittests	46.77% <33.33%> (-0.45%)	⬇️

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Files	Coverage Δ
...jectory_controller/joint_trajectory_controller.hpp	0.00% <ø> (ø)
...ory_controller/src/joint_trajectory_controller.cpp	48.89% <33.33%> (+0.91%)	⬆️

... and 2 files with indirect coverage changes