Fix collision checking in VisibilityConstraint

[schornakj]

Description

Previously, planning with the VisibilityConstraint could cause segfaults because modifying collision objects in the collision environment is not thread-safe. The planning threads would interfere with each other by trying to add and remove the visibility cone collision object out of sync.

This PR fixes that by creating a local collision environment within VisibilityConstraint::decide.

I also modified how VisibilityConstraints are evaluated so that if a negative or zero target_radius value is used but valid max_range_angle and max_view_angle are provided, then the visibility cone check is skipped and the range and view angle checks are performed as usual. Previously setting an invalid target_radius value would cause the entire constraint evaluation to be skipped.

While I was at it I renamed some of the variables used for transforms to be more verbose and easier to follow.

Note: I'm keeping this as a draft for now since I'm still testing, but I'd be happy to get feedback on what I have so far.

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

[codecov]

Codecov Report

Patch coverage: 70.00% and project coverage change: +0.01 🎉

Comparison is base (127d483) 50.90% compared to head (b2896e7) 50.91%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1986      +/-   ##
==========================================
+ Coverage   50.90%   50.91%   +0.01%     
==========================================
  Files         391      391              
  Lines       32128    32115      -13     
==========================================
- Hits        16353    16349       -4     
+ Misses      15775    15766       -9     

Impacted Files	Coverage Δ
...oveit/kinematic_constraints/kinematic_constraint.h	93.75% <ø> (ø)
...ry_processing/time_optimal_trajectory_generation.h	100.00% <ø> (ø)
...cessing/src/time_optimal_trajectory_generation.cpp	86.51% <ø> (-0.04%)	⬇️
...kinematic_constraints/src/kinematic_constraint.cpp	74.65% <70.00%> (+0.45%)	⬆️

... and 2 files with indirect coverage changes

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[henningkayser]

I think we should get this fixed merged for now to get rid of the segfault. @schornakj since you are using this, do you think you could evaluate the performance impact and decide if we need to address this further?

[sea-bass]

LGTM