Add check collision

[snozawa]

Add :check-collision argument to IK according to #95.
check-collision is nil by default to keep compatibility.

• If check-collision is nil, IK results are same as before.
• If check-collision is t, :inverse-kinematics success will be IK success and no collision

Note that I added :make-pqpmodel by default in :init-ending.

I added test code to irteus/test.

[k-okada]

lgtm, please include file name (+ function name) into commit log, to help writing CHANGELOG.rst
(when we create CHANGELOG, we edit from the results of git log --oneline)
https://github.com/euslisp/jskeus/blob/master/CHANGELOG.rst

[snozawa]

Thank you for your advice.

I updated PR by adding file name referring https://github.com/euslisp/jskeus/blob/master/CHANGELOG.rst. (Function names are already added).