Rename `ICartesianControl::movi` to `pose`?

There used to be a streaming pose command: https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/7af8fc70a0bf14aa37bdc04e492068a49264b678 (https://github.com/roboticslab-uc3m/kinematics-dynamics/pull/117). Before its deprecation at https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/469d1035f717f1cad5ba819268f25adf8efb0f19, the documentation stated:

/**
 * @brief Achieve pose (velocity control)
 *
 * Move to desired position, computing the error with respect to the current pose. Then,
 * perform numerical differentiation and obtain the final velocity increment (as in @ref twist).
 *
 * @param x 6-element vector describing desired instantaneous pose in cartesian space;
 * first three elements denote translation (meters), last three denote rotation (radians).
 * @param interval Time interval between successive command invocations, expressed in seconds
 * and used for numerical differentiation with desired/current poses.
 */
void pose(const std::vector<double> & x, double interval);

The movi command was introduced later (https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/87a9c94b11a41e0cc860963fb2c67c58a564455b) with the following description:

/**
 * @brief Achieve pose
 *
 * Move to desired position instantaneously, no further intermediate calculations are
 * expected other than computing the inverse kinematics.
 *
 * @param x 6-element vector describing desired instantaneous pose in cartesian space;
 * first three elements denote translation (meters), last three denote rotation (radians).
 */
void movi(const std::vector<double> & x);

I find the movi name a bit difficult to understand at first glance. Also, ROS users may question the naming of this command due to the existence of Pose, Twist and Wrench geometry message types (ref). Since the information conveyed is in fact a pose, then why not use this name instead?

cc @jgvictores @mercerebo1

roboticslab-uc3m / kinematics-dynamics

Rename `ICartesianControl::movi` to `pose`? #198