InverseKinematicsFunctionType could support current joint configuration as input for diff IK

**Describe the feature you'd like**
[InverseKinematicsFunctionType](https://github.com/airo-ugent/airo-mono/blob/6fc4a677a34e535b62c87eb07847e10b2015f78f/airo-typing/airo_typing/__init__.py#L123) could support an optional current joint configuration as input for differential IK. Or do we want an DifferentialInverseKinematicsFunctionType? This would feel like the start of many more variations which we want to avoid.

If we add JointConfigurationType to the Callable type, does this break existing implementations where IK functions only support one input argument?

Anyways, airo-planner uses this type in the [planner definition](https://github.com/airo-ugent/airo-planner/blob/1f2ebeb181afad6700e41d1a97173e2ea7f4bcf4/airo_planner/ompl/single_arm_ompl_planner.py#L47) which prevents me from using diff IK which is linearized around the current joint config.

**Use cases**
Anyone using diff IK instead of IK.

**Possible implementation**
`InverseKinematicsFunctionType = Callable[[HomogeneousMatrixType, Optional[JointConfigurationType]], List[JointConfigurationType]]`

or new member:
`DifferentialInverseKinematicsFunctionType = Callable[[HomogeneousMatrixType, Optional[JointConfigurationType]], List[JointConfigurationType]]`