Add 'SendJointAngleTrajectory' to jaco_comm class

[jon-weisz]

Add a ros-agnostic interface for adding a complete trajectory to the controller.
It should take a const std::vector & jaco::TrajectoryPoint points list and return a bool if the trajectory is added.

This should be inspired by the SendTrajectory command found here:
https://github.com/RIVeR-Lab/jaco-ros/blob/moveit_revolutejoints/jaco_driver/src/jaco_comm.cpp#L225
and the pose trajectory interface found here:
https://github.com/RIVeR-Lab/jaco-ros/blob/moveit_revolutejoints/jaco_driver/src/jaco_pose_trajectory_action.cpp#L66

But it should add the entire trajectory ON THE INSIDE, not point by point.

So, the interface should look something like

bool SendJointAngleTrajectory(const std::vector & points)
{

}

This could be build by wrapping a SendJointAnglePoint function that looks exactly like SendTrajectory but replaces the
API->SetCartesianControl();
with whatever is needed to set it to angular control