Update IK Solver interface to required IK Type

[Levi-Armstrong]

Currently the IK solver interface is written for Transform6D. In order to support 4D solver within the KinematicGroup, the class needs a way to detect the type of IK solver. Need to add a type to the interface and the KinematicsGroup class will handle converting the Transform6D pose to the correct format for the IK solver. Add the following types to start with and add others as needed.

IK Types

• Transform6D - end effector reaches desired 6D transformation
• TranslationXAxisAngle4D, TranslationYAxisAngle4D, TranslationZAxisAngle4D - end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x/y/z-axis (defined in the manipulator base link’s coordinate system)