Movement of the fingers of the new hand in open/close mode

[marcoaccame]

This PR allows embObjMotionControl to move the fingers of the new hand in open close mode.

As such, we can now parse xml files which have the field SERVICE.type equal eo_motcon_mode_mc4plusfaps.

This service type needs a mc4plus board of which uses the standard pwm actuators on ports CONN:P2, CONN:P3, CONN:P4 and CONN:P5.

The novelty in here is that the encoders at joint are described as POS:hand_thumb, POS:hand_index, POS:hand_medium and POS:hand_pinky and are associated to absolute magnetic encoders placed on the fap boards which are managed by CAN board pmc of which we specify CAN address in the field POS.location.

So we needed the parsing of the xml to be able to get the new parameters and to send then to a mc4plus board and then down to the pmc board.

The code in the PR has demonstrated to be effective in moving the fingers of the new hand and is fully compatible with the other service types used on the iCub platform.

The firmware used for the mc4plus is already in robotology:devel since this PR.

Compatibility test have been done with the standard eo_motcon_mode_foc service type which uses an ems two 2foc boards and AEA encoders to move three brushless motors.