0.21.0

What's Changed

• Update based on changes in trajopt by @Levi-Armstrong in #392
• Unused includes cleanup by @rjoomen in #394
• Fix contact check program to support joint and state waypoints by @Levi-Armstrong in #398
• remove results from TaskComposerNodeInfo by @Levi-Armstrong in #404
• Move TaskComposerProblem input to base class and change type to tesseract_common::AnyPoly by @Levi-Armstrong in #407
• Updated to version of ICI with VCS shallow cloning by @marip8 in #405
• Replace input/output_remapping with remapping and input/output_indexing with indexing by @Levi-Armstrong in #408
• Changed CI base directory to /opt by @marip8 in #410
• Revert "Changed CI base directory to /opt" by @marip8 in #413
• Update dependencies.repos by @Levi-Armstrong in #411

Full Changelog: 0.20.1...0.21.0