Wrap IKFast solutions for cyclic joint positions

[jslee02]

IKFast sometimes returns solutions that are not wrapped within the range of the joint limits, which is regarded as an invalid solution in DART.

This PR fixes the issue by adding logic that tries to wrap IKFast solutions for rotational joints. The idea is to wrap the solution within joint limits. If there is more than one solution (when the joint limit range is wider than 2pi), it returns the closest solution to the current joint position to minimize joint motion.

The logic should be applied to any DegreeOfFreedom whose configuration space is SO(2), but this PR only applies it to RevoluteJoint. This is because the current API doesn't provide for it. DegreeOfFreedom::isCyclic() is the closest function to what we want, but it only returns true when the rotational joint has no limits.

This PR partially fix #1449 because it only works for RevoluteJoint.

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[codecov]

Codecov Report

Merging #1452 into master will increase coverage by 0.06%.
The diff coverage is 88.67%.

@@            Coverage Diff             @@
##           master    #1452      +/-   ##
==========================================
+ Coverage   58.17%   58.24%   +0.06%     
==========================================
  Files         412      412              
  Lines       29875    29923      +48     
==========================================
+ Hits        17381    17428      +47     
- Misses      12494    12495       +1     

Impacted Files	Coverage Δ
dart/dynamics/IkFast.hpp	100.00% <ø> (ø)
dart/dynamics/IkFast.cpp	64.25% <88.67%> (+5.14%)	⬆️
dart/dynamics/Skeleton.cpp	66.33% <0.00%> (+0.16%)	⬆️
dart/dynamics/DegreeOfFreedom.cpp	46.34% <0.00%> (+1.21%)	⬆️
dart/math/Constants.hpp	75.00% <0.00%> (+8.33%)	⬆️

[jslee02]

Merging as it seems the build failure on Windows is due to the ODE vcpkg (incorrect SHA value).