Implemented non-zero velocity joint waypoints

include/franky/joint_state.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include <optional>
+#include <Eigen/Core>
+#include <utility>
+
+#include "franky/robot_pose.hpp"
+#include "franky/robot_velocity.hpp"
+
+namespace franky {
+
+class JointState {
+ public:
+  // Suppress implicit conversion warning
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wimplicit-conversion"
+  JointState(Vector7d position) : position_(std::move(position)), velocity_(Vector7d::Zero()) {}
+#pragma clang diagnostic pop
+
+  JointState(Vector7d pose, Vector7d velocity)
+      : position_(std::move(pose)), velocity_(std::move(velocity)) {}
+
+  JointState(const JointState &) = default;
+
+  JointState() = default;
+
+  [[nodiscard]] inline Vector7d position() const {
+    return position_;
+  }
+
+  [[nodiscard]] inline Vector7d velocity() const {
+    return velocity_;
+  }
+
+ private:
+  Vector7d position_;
+  Vector7d velocity_;
+};
+
+}  // namespace franky