Extend state point with velocity, acceleration, orientation and orientation rate

[denotte]

Describe the feature

The message StatePoint should be extended by fields for velocity, acceleration, orientation and orientation rate.

To sufficiently express a planned trajectory as created by a route planer we need to communicate time, position, orientation, acceleration, orientation and orientation rate. The proposed changes cover the minimum we found to be necessary for a cosimulation of a route planer and an environment simulation to communicate the resulting trajectory of the planing software using OSI.

Describe alternatives you have considered

The existing message MotionRequest fits the use case quiete well. But the current implementation for the trajectory only covers time, position and orientation.

Describe the backwards compatibility

The proposed change adds optional fields to an existing message. No issues with backwards compatibility expected.