Link JTC validation library instead of header-only

[thedevmystic]

Hello, respected maintainers and reviewers! This is Surya!

So, this PR concerns with loading validate_jtc_parameters.hppas .cpp. If you may remember I did this similar PR previously but it's changes was reverted. This is important for my another PR which is #2133. Without this specific change we get mult. def. errors.

Changes in this PR:

• Seperated definitions of validate_jtc_parameters.hpp into validate_jtc_parameters.cpp.

A question: While I did a traditional .hpp/.cpp approach we can also just inline it to satisfy ODR. If we want that then I can rewrite it as inline.

[codecov]

Codecov Report

❌ Patch coverage is 88.23529% with 4 lines in your changes missing coverage. Please review.
✅ Project coverage is 86.86%. Comparing base (c7b97ca) to head (6d87ace).
⚠️ Report is 3 commits behind head on master.

Files with missing lines	Patch %	Lines
...jectory_controller/src/validate_jtc_parameters.cpp	88.23%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2478      +/-   ##
==========================================
+ Coverage   86.83%   86.86%   +0.02%     
==========================================
  Files         148      148              
  Lines       16273    16271       -2     
  Branches     1368     1368              
==========================================
+ Hits        14131    14133       +2     
+ Misses       1635     1630       -5     
- Partials      507      508       +1     

Flag	Coverage Δ
unittests	86.86% <88.23%> (+0.02%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...jectory_controller/src/validate_jtc_parameters.cpp	88.23% <88.23%> (ø)

... and 2 files with indirect coverage changes

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