Add AllowedCollisionMatrix and CollisionMarginData to yaml extensions

[Levi-Armstrong]

No description provided.

[codecov]

Codecov Report

Attention: Patch coverage is 97.56098% with 2 lines in your changes missing coverage. Please review.

Project coverage is 93.03%. Comparing base (38269cb) to head (80cdeda).

Files with missing lines	Patch %	Lines
...common/include/tesseract_common/yaml_extenstions.h	97.36%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1152      +/-   ##
==========================================
+ Coverage   93.02%   93.03%   +0.01%     
==========================================
  Files         266      266              
  Lines       17768    17851      +83     
==========================================
+ Hits        16528    16607      +79     
- Misses       1240     1244       +4     

Files with missing lines	Coverage Δ
...nclude/tesseract_common/allowed_collision_matrix.h	100.00% <ø> (ø)
tesseract_common/src/allowed_collision_matrix.cpp	100.00% <100.00%> (ø)
...common/include/tesseract_common/yaml_extenstions.h	92.57% <97.36%> (+1.75%)	⬆️

... and 2 files with indirect coverage changes

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