[Joint/All] Clean Macro + adjust accessors for JointDataBase

src/multibody/joint/joint-base.hpp

src/multibody/joint/joint-composite.hpp

src/multibody/joint/joint-free-flyer.hpp

src/multibody/joint/joint-generic.hpp

src/multibody/joint/joint-planar.hpp

src/multibody/joint/joint-prismatic-unaligned.hpp

src/multibody/joint/joint-prismatic.hpp

src/multibody/joint/joint-revolute-unaligned.hpp

src/multibody/joint/joint-revolute-unbounded.hpp

src/multibody/joint/joint-revolute.hpp

src/multibody/joint/joint-spherical-ZYX.hpp

src/multibody/joint/joint-spherical.hpp

src/multibody/joint/joint-translation.hpp