wholebodydynamics: Add support to log internal quantities useful for debug

[traversaro]

As mentioned in #119, it often happens that the estimation provides unexpected values. It would be great to modify wholebodydynamics to sistematically log relevant data, to easily debug estimation problems.

Ideally, the data logged could go in the same file created by the telemetryDeviceDumper YARP device provided by yarp-telemetry, to automatically synchronize it with sensor measures. A possible strategy (but possible alternative strategy are welcome) is to:

• Modify telemetryDeviceDumper to expose a C++ YARP device interface that can be used by arbitrary devices to log variables without the need to modify telemetryDeviceDumper (telemetryDeviceDumper just need to be manually modified for devices that we don't want to modify, for example because they are hosted in YARP and this would create a circular dependency.
• Once telemetryDeviceDumper exposes the necessary interfaces, modify the wbd device to (optinally) log its data via this interface.

[prashanthr05]

Related:

@isorrentino worked in this direction from the BipedalLocomotionFramework side.
A PR is open in BLF: ami-iit/bipedal-locomotion-framework#405

[traversaro]

A PR is open in BLF: ami-iit/bipedal-locomotion-framework#405

The idea is that by logging directly in WBD, we can log quantities that are not available otherwise (for example input quantities after the filter).