Inverse is not meaningful for all cartesian types

[domire8]

First of all, the inverse function is not completely implemented (related to #134).

Then, the inverse function for all subtypes return a CartesianState. And the inverse for a CartesianTwist and CartesianWrench does not make sense because you'd always need a pose to do an inverse. So they should be deleted.

For the CartesianPose it should return a pose again.