Duplicate joint limit code

[rjoomen]

tesseract_common::satisfiesLimits, and tesseract_planning::isWithinJointLimits, and another tesseract_planning::isWithinJointLimits have duplicate functionality.

Also, tesseract_common::enforceLimits and tesseract_planning::clampToJointLimits have duplicate functionality.

[Levi-Armstrong]

The satisfiesLimits use to call each other but this resulted in significant number of memory allocations so the code was duplicated to avoid the memory allocations.

[Levi-Armstrong]

The second isWithinJointLimits linked is a specialized check for when you have joint 4 and joint 6 coupling limit which is common on 6DOF industrial maniplators.

[Levi-Armstrong]

It looks like the clampToJointLimits is a combination of satifiesLimits ans enforceLimits so maybe these can be removed.