Add use_padding flag + deprecate checkCollisionUnpadded() functions

[sjahr]

Description

I wanted to perform a padded self-collision check with a robot state and realized that this is not possible with the current API. So I decided to enable it + clean-up the checkCollision API of the planning scene a bit. This PR:

• Adds use_padded_collision_environment & use_padded_self_collision flags to choose the environment to be used for collision checks
• Clean up & update checkCollision(): Move all implementations into header make transform update more consistent
• Deprecate checkCollisionUnpadded() since they become redundant with the new flags
• Clean up & update checkSelfCollision(): Move all implementations into header make transform update more consistent

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

[sea-bass]

Looks good, just small comments. But my first one on variable naming is probably the more important.

Also, this change is probably worth adding to the corresponding CHANGELOG.rst

[sea-bass]

Can you also add to the CHANGELOG.rst?

[sjahr]

Can you also add to the CHANGELOG.rst?

@sea-bass Sorry, missed that but now it's done ✔️

[marioprats]

Thanks Sebastian, nice cleanup!
Just a couple of questions.

[sea-bass]

Sorry @sjahr -- I was putting together a Humble release and realized it's not CHANGELOG.rst that needs modification, as that is put together by catkin_generate_changelog.

Could you move that stuff to doc/MIGRATION_GUIDE.md?

Also changes LGTM, but will let @marioprats have the approval since he still had some open questions.

[marioprats]

Thanks Sebastian, just a nit to update the comment, since the PR changes the check to return early