Add joint velocity limit constraint support

[jslee02]

This PR is to resolve #296 and https://dartsim.discourse.group/t/joint-velocities-over-the-velocity-limit/119.

This PR depends on #1406 (merged)

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• Document new methods and classes
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[codecov]

Codecov Report

Merging #1407 into master will increase coverage by 0.03%.
The diff coverage is 76.29%.

@@            Coverage Diff             @@
##           master    #1407      +/-   ##
==========================================
+ Coverage   57.28%   57.31%   +0.03%     
==========================================
  Files         366      367       +1     
  Lines       27483    27517      +34     
==========================================
+ Hits        15743    15771      +28     
- Misses      11740    11746       +6

Impacted Files	Coverage Δ
dart/dynamics/Joint.hpp	66.66% <ø> (ø)	⬆️
dart/dynamics/detail/JointAspect.hpp	66.66% <ø> (ø)	⬆️
dart/constraint/ConstraintSolver.cpp	66.3% <100%> (ø)	⬆️
dart/constraint/JointLimitConstraint.hpp	100% <100%> (ø)
dart/dynamics/Joint.cpp	56.76% <57.14%> (-1.01%)	⬇️
dart/constraint/JointLimitConstraint.cpp	71.5% <76.98%> (+3.81%)	⬆️

[jslee02]

@mxgrey Please let me know if you have any further concerns on this PR.