Merging in running controller

[yangwill]

Commit merges in files for running controller as well as other relevant improvements to our cassie controller stack

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This change is 

[yangwill]

Summary of changes:

common/

• eigen_utils.cc/h adding clamp function for eigen vectors. Works using std::clamp

state_estimator.cc/h

• not much, just changed thresholds,

examples/Cassie/contact_scheduler

• contact_scheduler.cc/h variable timing fsm that also publishes predicted state switches for next 4 states.
• state_based_controller_switch.cc listens to published state switches and switches at the upcoming state. This is extremely useful for variable timing fsm as well as not having to hardcode timings (for example, if you change the walking frequency). Also enables switching back to standing

examples/Cassie/dispatcher_robot_in/out

• small naming changes, dispatcher_in also echoes what is actually being passed to the robot

examples/Cassie/osc

• fixing naming convention for input/output ports
• creating standing gains class instead of keeping it in the standing controller executable
• more documentation

examples/Cassie/osc_jump

• cleaning up unused code
• fixing naming convention

examples/Cassie/osc_run

• new functions specific to running

examples/Cassie/systems/

• input_supervisor.cc/h: cleaning up input supervisor

systems/controllers/osc/

• fixing impact-invariant projection
• cleaning up tracking datas
• implementing acceleration bounds