Throw a more meaningful error when TOPPRA fails

[m-decoster]

When wanting to change control flow when time_parameterize_toppra fails, we need to catch ValueErrors, but these can also come from different parts of the code base. To make catching the right error easier, I've defined a custom error type, such that downstream code can use

try:
    # ...
except TimeParameterizationError:
    # ...

to catch only that specific error.

Note

• Perhaps there are other exceptions too that we want to handle in this way.
• I still need to update the docstring of the function.