Prepare cartesian controller interface for tool actuation (AMOR)

[PeterBowman]

WIP for https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/115. Relevant changes:

• new ICartesianControl::act command supporting these command vocabs: https://github.com/roboticslab-uc3m/kinematics-dynamics/blob/acc9c4f11e2806c149877b00dd2c3d3f1a2ea75f/libraries/YarpPlugins/ICartesianControl.h#L112-L117

• working implementation in AmorCartesianControl

• added support for act command in keyboardController and streamingDeviceController apps

• new visual-servo based app: haarDetectionController

[coveralls]

Coverage decreased (-0.6%) to 90.968% when pulling acc9c4f11e2806c149877b00dd2c3d3f1a2ea75f on amor-cc-actuator into b985abf377fcc47e3e0d36dab625b81a89567c72 on develop.