Small optimization in constructGoalConstraints()

[AndyZe]

We can use the input orientation here since, as the comment says:

// orientation of constraint region does not affect anything, since it is a sphere

[codecov]

Codecov Report

Base: 50.98% // Head: 51.00% // Increases project coverage by +0.03% 🎉

Coverage data is based on head (36f52a0) compared to base (132ad28).
Patch coverage: 100.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1707      +/-   ##
==========================================
+ Coverage   50.98%   51.00%   +0.03%     
==========================================
  Files         378      378              
  Lines       31657    31653       -4     
==========================================
+ Hits        16136    16143       +7     
+ Misses      15521    15510      -11     

Impacted Files	Coverage Δ
moveit_core/kinematic_constraints/src/utils.cpp	23.55% <100.00%> (-0.97%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	47.91% <0.00%> (+0.08%)	⬆️
moveit_ros/moveit_servo/src/pose_tracking.cpp	77.26% <0.00%> (+0.48%)	⬆️
moveit_ros/moveit_servo/src/servo_calcs.cpp	67.95% <0.00%> (+1.50%)	⬆️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

[rhaschke]

Now orientation isn't initialized at all (at least in ROS1 quaternion messages don't default to unity). Ignore my comment if that changed in ROS2.

[AndyZe]

It's initialized to identity by default in ROS2: https://docs.ros2.org/galactic/api/geometry_msgs/msg/Quaternion.html