Update embObjMotionControl and eomcParser to manage the new Kalman Filter paramenters

[sgiraz]

What's new in this PR:

• eomcParser is now able to parse and manage the new Kalman Filter parameters from XML files: kalmanFilterEnabled, x0, x1, x2, Q0, Q1, Q2, R and P0. Here is an example (for one joint) of how they should be included in hardware\motorControl\<board-joint>-mc.xml

<group name="KALMAN_FILTER">
    <param name="kalmanFilterEnabled">          1                     </param>
    <param name="x0">                           0                     </param>
    <param name="x1">                           0                     </param>
    <param name="x2">                           0                     </param>
    <param name="Q0">                           0.0001                </param>
    <param name="Q1">                           0.01                  </param>
    <param name="Q2">                           10                    </param>
    <param name="R">                            0.0001                </param>
    <param name="P0">                           0.000099              </param>
</group>

Note:

• The integration has been tested on a custom single joint setup (mc4plus + DC motor + aea2) and iCubGenova02(🟣).

[sgiraz]

Note: This PR shouldn't be merged until YARP 3.7 has been released

cc @pattacini

[pattacini]

CI has failed because we need to merge robotology/icub-firmware-shared#64 first.

cc @sgiraz

[marcoaccame]

ok

[pattacini]

Just awaiting the CI before merging.