Add moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink function

[traversaro]

Until now, if you exported a iDynTree::Model that did not respected the URDF constraint of the child link frame origin being on the joint axis, you only got an error during the URDF export process, something like:

[ERROR] URDFModelExport: Impossible to convert joint torso_pitch to a URDF joint without moving the link frame of link torso_1 , because its origin is 1.90735e-10 -0.032 -0.0364

This PR does not modify this behaviour to avoid confusion in the export of URDF, but it adds a new iDynTree::moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink function to generate a URDF compatible model from a non-URDF compatible model, so for example if a code like:

iDynTree::Model modelToExport;

// ... modelToExport is created

iDynTree::ModelExporter modelExporter;
modelExporter.init(modelToExport);
bool ok = transformedModelExporter.exportModelToFile("/file/name.urdf");

was reporting an error, you can modify it like:

iDynTree::Model modelToExport;

// ... modelToExport is created

// Convert modelToExport in a URDF-compatible model (using the default base link)
iDynTree::Model modelToExportURDFCompatible;

bool ok = iDynTree::moveLinkFramesToBeCompatibleWithURDFWithGivenBaseLink(modelToExport, modelToExportURDFCompatible);

iDynTree::ModelExporter modelExporter;
modelExporter.init(modelToExportURDFCompatible);
ok = ok && transformedModelExporter.exportModelToFile("/file/name.urdf");

to actually export a model that is identical to the original one, but with the link frames moved to comply with URDF constraints.

Fix #847 .

[traversaro]

Please ignore the macos-12 failure that is due to #1192 .

[traversaro]

This functionality may be of interest of other users of the URDF exporter, for example @francesco-romano .

[Nicogene]

This is great!

cc @mfussi66