Added missing const inputs of functions
Updated input to functions in kinematics::Kinematics and ::Frame to take frame Ptrs by const reference as input and updated to pass const Frame, when the frame itself is not to be modified by the function.
Updated input to functions in kinematics::Kinematics and ::Frame to take frame Ptrs by const reference as input and updated to pass const Frame, when the frame itself is not to be modified by the function.