Add mobile robot kinematics 101 and improve steering library docs (backport #954) #1161
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This is the first step of #931, but I focused only on steering on the front axle for now.
Edit: I also added the diff-drive kinematics to have a complete documentation.
After peer-reviewing of the equations I'd start to rename the variables of the library to match the doc and fix possible bugs.
rendered docs (updated 5d6aee7)
This is an automatic backport of pull request #954 done by [Mergify](https://mergify.com).