Make TimeParameterization classes polymorphic

[JafarAbdi]

Description

Cherry-pick moveit/moveit#3021 in moveit2

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Merging #1012 (73145df) into main (4e65a4f) will increase coverage by 0.02%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main    #1012      +/-   ##
==========================================
+ Coverage   57.93%   57.94%   +0.02%     
==========================================
  Files         309      312       +3     
  Lines       26119    26121       +2     
==========================================
+ Hits        15130    15134       +4     
+ Misses      10989    10987       -2     

Impacted Files	Coverage Δ
...ry_processing/time_optimal_trajectory_generation.h	100.00% <ø> (ø)
...cessing/src/time_optimal_trajectory_generation.cpp	77.80% <ø> (+0.31%)	⬆️
...ory_processing/iterative_spline_parameterization.h	100.00% <100.00%> (ø)
...ctory_processing/iterative_time_parameterization.h	100.00% <100.00%> (ø)
...veit/trajectory_processing/time_parameterization.h	100.00% <100.00%> (ø)

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[henningkayser]

Is this too urgent so that we can't wait for this to get synced? Good change, imo

[henningkayser]

license header?

[jliukkonen]

This is good opportunity to add documentation to the interface.

[jliukkonen]

Not sure if I can actually block merging on my own but I'm marking this as "request changes" until there are comments. Otherwise it's too easy to forget them :)

[JafarAbdi]

Replace with #1151