Implement a condensed summary for ContactTrajectoryResults

[marrts]

Print a condensed summary of contacts over a trajectory. Report the first contact observed at each step, regardless of if multiple contacts and substeps with contacts are present. Useful for quick, but informative, debugging.

Of the form

Step 14.4: [link_a, link_b]->0.001

This means link_a and link_b colliding 40% of the way from step 14 to step 15 and the contact distance observed was 0.001

[codecov]

Codecov Report

❌ Patch coverage is 89.65517% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 93.51%. Comparing base (4e483d6) to head (9b6b781).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
tesseract_collision/core/src/types.cpp	89.65%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1205      +/-   ##
==========================================
- Coverage   93.51%   93.51%   -0.01%     
==========================================
  Files         272      272              
  Lines       18710    18739      +29     
==========================================
+ Hits        17497    17523      +26     
- Misses       1213     1216       +3     

Files with missing lines	Coverage Δ
...sion/core/include/tesseract_collision/core/types.h	100.00% <ø> (ø)
tesseract_collision/core/src/types.cpp	91.28% <89.65%> (-0.09%)	⬇️

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[Levi-Armstrong]

@marrts It looks like there are clang-tidy errors.

[marrts]

@marrts It looks like there are clang-tidy errors.

I really should be better about checking that first, working on it now