Add IKFast kinematics interface

[oguzhanbzglu]

Summary

Adds a new kinematics_interface_ikfast package: a generic IKFast wrapper
that implements the KinematicsInterface plugin interface.

Changes

• New package kinematics_interface_ikfast with:
  • KinematicsInterfaceIKFast: abstract base class wrapping IKFast-generated solvers
  • Robot-specific plugins subclass it and implement get_num_joints_internal,
    compute_fk, and compute_ik (the three IKFast entry points)
  • Implements all IK modes: closest solution, within joint range, all solutions
  • Implements FK via convert_joint_state_to_cartesian_pose
  • Includes ikfast.h header for generated solver integration
  • Full Jacobian support via numerical differentiation

Depends on

-- Const changes in base interface — the current PR uses methods from it. Please review that first.

[saikishor]

Hello,

Is it possible to add some tests?

[oguzhanbzglu]

Hello,

Is it possible to add some tests?

Hello, yes I have added a test for the functionalities and tested with full setup. However, the test itself is correct but will fail on this MR until feat/api-const-changes lands first.