Refactor and extend tests (backport #210)

[mergify]

For #199 I wrote new tests, which are also applicable for KDL.

For easier review:
In a first step, I propose to add the new testcases to the old file. As an upcoming step, I'd use a templated test file to be used by all implementations.

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This is an automatic backport of pull request #210 done by Mergify.

[mergify]

Cherry-pick of 7a77940 has failed:

On branch mergify/bp/jazzy/pr-210
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Changes to be committed:
	modified:   kinematics_interface/include/kinematics_interface/kinematics_interface.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   kinematics_interface_kdl/src/kinematics_interface_kdl.cpp
	both modified:   kinematics_interface_kdl/test/test_kinematics_interface_kdl.cpp

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