Added const to moveit_core/collision_detection per issue 879

[bgill92]

Description

Const'd function parameters and locally scoped variables in the collision_detection portion of of moveit_core. This PR pertains to Const as much as possible #879

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[vatanaksoytezer]

Just a few more places to put consts, otherwise lgtm! Thank you @bgill92!

[codecov]

Codecov Report

Merging #1416 (c7965fc) into main (47c52f2) will increase coverage by 10.71%.
The diff coverage is 51.95%.

❗ Current head c7965fc differs from pull request most recent head 9e42921. Consider uploading reports for the commit 9e42921 to get more accurate results

@@             Coverage Diff             @@
##             main    #1416       +/-   ##
===========================================
+ Coverage   50.85%   61.55%   +10.71%     
===========================================
  Files         381      274      -107     
  Lines       31735    24982     -6753     
===========================================
- Hits        16135    15375      -760     
+ Misses      15600     9607     -5993     

Impacted Files	Coverage Δ
...llision_detection/src/collision_octomap_filter.cpp	0.00% <0.00%> (ø)
...t_core/collision_detection/src/collision_tools.cpp	0.00% <0.00%> (ø)
..._core/collision_detection/src/collision_matrix.cpp	37.15% <50.00%> (ø)
...eit_core/collision_detection/src/collision_env.cpp	72.58% <88.24%> (ø)
moveit_core/collision_detection/src/world.cpp	88.11% <93.34%> (ø)
...collision_detection/src/collision_plugin_cache.cpp	82.36% <100.00%> (ø)
moveit_ros/planning/rdf_loader/src/rdf_loader.cpp	53.47% <0.00%> (-11.88%)	⬇️
...nclude/moveit_setup_framework/data/srdf_config.hpp
...obot_state_rviz_plugin/src/robot_state_display.cpp
...moveit_setup_app_plugins/src/perception_config.cpp
... and 104 more

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[tylerjw]

This one is next for merging, rebased.