Frame name and reference frame in Jacobian

[buschbapti]

The Jacobian matrix is responsible for transforming CartesianState to JointState and vice versa. Therefore, it should have internally all the info for those conversion such as robot name, frame name and reference frame.

At the moment, this is not the case as it has only access to the robot name. Conversion from JointState to CartesianState is then made with hardcoding the name and reference frame of the state.

I would suggest we refine that by enforcing specifically that a Jacobian has a reference frame and is associated to a frame. We can even have operators with CartesianPose to handle the changing of reference frame.