Add support for mixed constraints with constrained planner

[stephanie-eng]

Description

Adds support for using mixed constraint types (position and orientation) with OMPL's constrained planner.

Tutorial here: moveit/moveit2_tutorials#421

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Merging #1319 (9b8790b) into main (212af0f) will decrease coverage by 0.01%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1319      +/-   ##
==========================================
- Coverage   61.57%   61.56%   -0.00%     
==========================================
  Files         274      274              
  Lines       24965    24966       +1     
==========================================
  Hits        15369    15369              
- Misses       9596     9597       +1     

Impacted Files	Coverage Δ
...de/moveit/ompl_interface/detail/ompl_constraints.h	0.00% <ø> (ø)
...mpl/ompl_interface/src/detail/ompl_constraints.cpp	0.00% <0.00%> (ø)
...pl/ompl_interface/src/planning_context_manager.cpp	54.37% <0.00%> (ø)

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[AndyZe]

I haven't tested it yet. The code changes look good and surprisingly simple though 👍

[AdamPettinger]

Seems very straightforward and elegant. I played with this a bunch starting from moveit/moveit2_tutorials#421 as an example, and it looks really good! Namely: single orientation, single position (with volume == 0 and volume > 0), and 1 position + 1 orientation all seem to be planning successfully very quickly.

[jih189]

The code looks strange to me. In the planning_context_manager.cpp, line 539 to line 544,, it still said "Mixed constraints are not supported", and it only allows one constraint based on the if statement.
if (constrained_planning_iterator != pc->second.config.end() && boost::lexical_cast<bool>(constrained_planning_iterator->second) && ((req.path_constraints.position_constraints.size() == 1) != (req.path_constraints.orientation_constraints.size() == 1)))

I think it is wrong. If so, what have you tested?