Master

Adjusted and added the kinematics test suite developed by @uqdut.

Added an extension of the ik algorithm to cross singularities and allow the change of global configuration in order to improve reachability on linear paths.

Notes:

• Some tests provided by the test suite may need to be evaluated as to their usefulness and correctnes (see comments in code)
• A few tests do not pass in kinetic build, even though they do in melodic, most likely due to default initialisations
• A further possibly useful extension of the ik for singularity crossing could be done by introducing different handeling of singularities based on the distance of the arm angle to the next singularity. Attempting to maximize distance from singularities, both in the pivot joints as well as hinges (treating them as blocked intervals) but allowing for crossing in case distance can not be maintained may further increase reachability but requires testing.