Increase required C++ standard to C++17

[jslee02]

• Increase required C++ standard to C++17, so the compiler versions as well
• Increase required CMake version to 3.10.2
• Drop supporting Ubuntu Xenial (16.04 LTS)
• Update CI settings accordingly

[codecov]

Codecov Report

Merging #1600 (6b68f7d) into main (77ddb1a) will increase coverage by 21.28%.
The diff coverage is 78.84%.

@@             Coverage Diff             @@
##             main    #1600       +/-   ##
===========================================
+ Coverage   37.74%   59.03%   +21.28%     
===========================================
  Files         394      473       +79     
  Lines       30485    39743     +9258     
===========================================
+ Hits        11508    23462    +11954     
+ Misses      18977    16281     -2696     

Impacted Files	Coverage Δ
dart/constraint/BallJointConstraint.cpp	67.61% <ø> (ø)
dart/constraint/BallJointConstraint.hpp	100.00% <ø> (ø)
dart/constraint/ConstraintSolver.hpp	100.00% <ø> (ø)
dart/constraint/WeldJointConstraint.cpp	6.59% <ø> (ø)
dart/constraint/WeldJointConstraint.hpp	0.00% <ø> (ø)
dart/dynamics/PointCloudShape.cpp	0.00% <0.00%> (ø)
dart/dynamics/PointCloudShape.hpp	0.00% <ø> (ø)
dart/math/Geometry.hpp	62.06% <ø> (+13.01%)	⬆️
dart/constraint/DynamicJointConstraint.cpp	12.24% <12.24%> (ø)
python/dartpy/constraint/JointConstraint.cpp	48.38% <25.00%> (ø)
... and 669 more