Adds JacobianExecutor

[egordon]

Wraps any VelocityExecutor to convert an end-effector SE(3) velocity command into joint velocity commands.

Prerequisite: #602

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Before creating a pull request

• [x] Document new methods and classes
• [x] Format code with make format

Before merging a pull request

• [x] Set version target by selecting a milestone on the right side
• [x] Summarize this change in CHANGELOG.md
• [x] Add unit test(s) for this change

[codecov[bot]]

Codecov Report

Merging #605 (aee9e85) into master (003ee72) will decrease coverage by 2.97%. The diff coverage is 83.97%.

@@            Coverage Diff             @@
##           master     #605      +/-   ##
==========================================
- Coverage   76.15%   73.18%   -2.98%     
==========================================
  Files         206      216      +10     
  Lines        7230     7768     +538     
==========================================
+ Hits         5506     5685     +179     
- Misses       1724     2083     +359     

Impacted Files	Coverage Δ
include/aikido/control/Executor.hpp	60.00% <0.00%> (-15.00%)	:arrow_down:
include/aikido/control/JointCommandExecutor.hpp	60.00% <0.00%> (-40.00%)	:arrow_down:
...ontrol/ros/detail/RosJointCommandExecutor-impl.hpp	0.00% <ø> (ø)
include/aikido/control/util.hpp	100.00% <ø> (ø)
include/aikido/robot/Robot.hpp	100.00% <ø> (ø)
src/control/ros/RosTrajectoryExecutor.cpp	0.00% <ø> (ø)
...l/KinematicSimulationJointCommandExecutor-impl.hpp	95.06% <57.14%> (+1.64%)	:arrow_up:
...de/aikido/control/detail/JacobianExecutor-impl.hpp	82.60% <82.60%> (ø)
src/robot/Robot.cpp	22.43% <87.71%> (ø)
include/aikido/control/JacobianExecutor.hpp	100.00% <100.00%> (ø)
... and 14 more