Make checkKin optional in debug

[marrts]

If a manipulator group has a lot of joints the kinematic check can take a very long time. This optionally removes that check which was previously always run in debug mode.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.60%. Comparing base (a2750a9) to head (369ddb8).
Report is 38 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1043      +/-   ##
==========================================
- Coverage   89.86%   89.60%   -0.27%     
==========================================
  Files         280      284       +4     
  Lines       15908    15990      +82     
==========================================
+ Hits        14296    14328      +32     
- Misses       1612     1662      +50     

see 25 files with indirect coverage changes

[Levi-Armstrong]

I do not think this is necessary because it should only run if built in debug mode. This should run if you build in release.

[Levi-Armstrong]

Is this check running when built in release?

[marrts]

Is this check running when built in release?

No, but I was developing in debug with a high DOF system and it was taking 30+ seconds to run the check which was annoying. At first I thought something broke.

I figured this way it wouldn't introduce any breaking changes but would just allow users to get around it if they need to test something else

[Levi-Armstrong]

I would prefer not to make this type of change, but instead update the if statement to also check if TESSERACT_ENABLE_TESTING is enabled which should solve the issue you are having. These types of checks are intended to be ran during unit tests.

[Levi-Armstrong]

Replaced by PR #1048