FootstepPlanner prediction of movement is now done with reference velocity instead of current velocity

Keyframe of joystick now expressed in seconds instead of number of iterations + Switch from 500Hz to 1 kHz

Switching to odri_control_interface instead of solopython to retrieve from and send data to the masterboard

Switch updateState function to a C++ version included in Estimator class, small difference in result due to some sort of numerical error

Finish switching to full C++ for the whole-body control part + Error is no longer an attribute of the wbc class

Add C++ functions to FootTrajectoryGeneration for more efficient frame conversion + Control from yaml + Again a few changes for RPY to quaternion conversion