Speed up loading of KDL and SRV kinematic plugins

This needs to be merged at the same time as https://github.com/ros-planning/moveit_core/pull/216

Improves the KDL and SRV kinematic plugins to load faster by bypassing loading and parsing the robot model.

Changes:
- Accept robot_model pointer
- Rename robot_state object
- Remove need for RDF loader
- Remove unused robot_state objects
- Cleanup formatting
To fix this redundant info I believe we just need to totally rewrite the KinematicsBase API, say for ROS-J, and require users with custom IKFast solvers to rebuild them (which requires just 1 command line command, actually). We must keep all this info here for now because in the [default implementation of this function](https://github.com/davetcoleman/moveit_core/blob/_kinematic_base_speedup/kinematics_base/include/moveit/kinematics_base/kinematics_base.h#L339) all this redundant info is passed on to the old version of the function.

My assumption in this PR is to not break API