Add KDL parameters to KDLInvKinChainNR_JL

[rjoomen]

• Add KDL parameters to KDLInvKinChainNR_JL (see Add the ability to change KDL parameters from kinematics configuration #843)
• Some clang_tidy and typo fixes (incl. removing unnecessary std::move)

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 90.13%. Comparing base (2a636ec) to head (60e08e2).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1009      +/-   ##
==========================================
- Coverage   90.14%   90.13%   -0.02%     
==========================================
  Files         280      280              
  Lines       15836    15859      +23     
==========================================
+ Hits        14276    14294      +18     
- Misses       1560     1565       +5     

see 9 files with indirect coverage changes