[C++] Fix difference_impl for some derived joints and reworked unittest
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- src/multibody/joint/joint-free-flyer.hpp 3 additions, 23 deletionssrc/multibody/joint/joint-free-flyer.hpp
- src/multibody/joint/joint-planar.hpp 12 additions, 1 deletionsrc/multibody/joint/joint-planar.hpp
- src/multibody/joint/joint-revolute-unbounded.hpp 1 addition, 1 deletionsrc/multibody/joint/joint-revolute-unbounded.hpp
- src/multibody/joint/joint-spherical.hpp 19 additions, 16 deletionssrc/multibody/joint/joint-spherical.hpp
- unittest/joint-configurations.cpp 185 additions, 247 deletionsunittest/joint-configurations.cpp
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