Rename h_v_bis into h_v_windowed + Remove h_v_windowed_filt + Adjust which data is sent to planner and mpc

Time spent by each block added to Logger + Integration of 15Hz low pass filters in loop + Logging of filtered quantities

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