Ompl constrained orientation rebase

[gautz]

Description

Rebase orientation constraints branch. Check with position constraints rebased branch

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

[stephanie-eng]

Hi @JeroenDM @gautz - can you let me know what the status of this is? I'd like to use the orientation constraints in a project, and try to port it to MoveIt 2.