IK Solver Redundant Solutions Update

[marip8]

This PR:

• Removes the addition of redundant solutions to the output of the inverse kinematic solvers
  • Returning redundant IK solutions with nominal solutions can cause downstream applications to repeat operations because those applications cannot disambiguate the two types of solutions. For example, the Tesseract Descartes planner collision checks all generated IK solutions, resulting in a lot of unnecessary repeated work when the vast majority of IK solutions are just redundancies of a solution that has already been checked.
  • Applications requiring redundant solutions should use the provided utility function to produce them from a nominal solution
• Adds a function for generating a list of indices which indicate which joints in a input list are capable of generating redundant solutions.
  • Linear joints, unlike revolute joints, are not capable of producing redundant solutions.
• Updates the redundant solution calculation function to only generate redundant solutions for joints that are capable of producing them

[codecov]

Codecov Report

Merging #601 (ad218f9) into master (71cad6c) will increase coverage by 0.04%.
The diff coverage is 100.00%.

❗ Current head ad218f9 differs from pull request most recent head bcffa1e. Consider uploading reports for the commit bcffa1e to get more accurate results

@@            Coverage Diff             @@
##           master     #601      +/-   ##
==========================================
+ Coverage   92.33%   92.37%   +0.04%     
==========================================
  Files         155      155              
  Lines        8887     8882       -5     
==========================================
- Hits         8206     8205       -1     
+ Misses        681      677       -4     

Impacted Files	Coverage Δ
...eract_kinematics/src/kdl/kdl_inv_kin_chain_lma.cpp	94.44% <ø> (+1.89%)	⬆️
...seract_kinematics/src/kdl/kdl_inv_kin_chain_nr.cpp	94.68% <ø> (+1.82%)	⬆️
tesseract_kinematics/src/opw/opw_inv_kin.cpp	95.77% <ø> (-0.23%)	⬇️
tesseract_kinematics/src/ur/ur_inv_kin.cpp	79.67% <ø> (-0.43%)	⬇️
...nematics/include/tesseract_kinematics/core/utils.h	97.29% <100.00%> (+0.29%)	⬆️

[johnwason]

@Levi-Armstrong Can we get a release tag to catch up with these changes?

[Levi-Armstrong]

I have created a new tag and submitted a release to the build farm.