0031388: To support kinematics data in STEP format

0031388: To support kinematics data in STEP format

 * Add support for testing kinematics_export
   * Add dump of kinematics (XDEDRAW_Kinematics)
 * Add tests for kinematics_export
   * chuck_3_jaw_AP242_v2 (A1)
   * mazak_kinematic_v3   (A2)
 * Add tests for kinematics
   * linear flexible and pinion pair       (C2)
   * linear flexible and planar curve pair (C3)
 * Rename function arguments or/and class fields
   * STEPCAFControl_Reader.cxx
     * addLinkWithShapes
     * setKinematicPairValue
     * ReadKinematics
   * STEPCAFControl_Writer.cxx
     * createKinematicLink
     * createKinematicJoint
     * createKinematicPair
     * createKinematicPairValue
     * WriteKinematics
   * StepKinematics_MechanismStateRepresentation
   * XCAFKinematics_LowOrderPairObjectWithCoupling
   * XCAFKinematics_LowOrderPairObject
   * XCAFKinematics_HighOrderPairObject
   * XCAFDoc_KinematicTool
 * Fix useless "linear * pair" XCAFDoc_KinematicPair
 * Add support of Spatial Rotation
   * Add MakeYprRotation in StepToGeom