Fix ARE check on action type

[pattacini]

This PR fixes #740.

I took the chance to analyze the problem by using the following snippet:

#include <cstdlib>
#include <typeinfo>
#include <string>
#include <iostream>

#include <iCub/action/actionPrimitives.h>

void test(const int i, const bool cond) {
    std::cout << "test " << i << ": "
              << (cond ? "passed ✅" : "failed ❌")
              << std::endl;
}

int main() {
    iCub::action::ActionPrimitives* action = new iCub::action::ActionPrimitivesLayer2();

    test(1, typeid(action).name() == typeid(iCub::action::ActionPrimitivesLayer2).name());
    test(2, typeid(*action).name() == typeid(iCub::action::ActionPrimitivesLayer2).name());
    test(3, dynamic_cast<iCub::action::ActionPrimitivesLayer2*>(action));
    test(4, typeid(action) == typeid(iCub::action::ActionPrimitivesLayer2));
    test(5, typeid(*action) == typeid(iCub::action::ActionPrimitivesLayer2));

    delete action;
    return EXIT_SUCCESS;
}

whose results are:

test 1: failed ❌
test 2: passed ✅
test 3: passed ✅
test 4: failed ❌
test 5: passed ✅

That said, I opted for the fix used in test no. 3 as it makes the ARE code a bit cleaner as well.

@Nicogene I found the use of std::is_same<,> along with decltype() a bit overkill plus I didn't manage to get it working at once.

[Nicogene]

Super thanks!

[pattacini]

@Nicogene the final test would be to make it run on the real robot, also because it remains unclear how ARE was able to be working as expected in the past 🤔