Add Human State Provider new features

[lrapetti]

This PR introduces some new features for the HumanStateProvider:

• Add the possibility to run fixed-based inverse kineamtics, using a sensor as fixed base, and computing the other sensors relative pose (https://github.com/robotology/human-dynamics-estimation/commit/1381f42de3783913aa859d65b877ad1bd699fe63)
• Add optional jointList parameter for HumanStateProvider device: Add the possibility to use a reduced model by passing list of links from the configuration (https://github.com/robotology/human-dynamics-estimation/commit/5d6dde63c3e2cd998d7f78da53c93866db75c740).
• Add the possibility to pass a fixed rotation for a sensor measurement trough configuration files (https://github.com/robotology/human-dynamics-estimation/commit/a4b383cc320df60980698ac2b7269bacef42ba0b)

[yeshasvitirupachuri]

Add the possibility to use a reduced model by passing list of links from the configuration (5d6dde6)

If I am not wrong is the joint list we pass that handles the link to be loaded in the model right? If so, please update the main comment. Thanks.

[lrapetti]

Hi @prashanthr05 @Yeshasvitvs, let me know if you have further comments or we can merge

[prashanthr05]

@lrapetti None from my side, thanks!