Add the possibility to visualize the IK targets used in HumanStateProvider

[lrapetti]

We should add the possibility to add in the visualizer the targets used by the HumanStateProvider for solving IK problem

[lrapetti]

I have taken care of this modification in https://github.com/robotology/human-dynamics-estimation/pull/274. In order to have such visualization, accordingly to the repo structure, I have added:

• IWearableTargets interface
• added the interface to HumanStateProvider
• WearableTargetsWrapper device
• WearableTargetsRemapper device
• added the remapper device to the HumanStateVisualizer

In order to visualize the targets, or the model frames the following options are added to the visualizer:

• visualizeFrames bool flag
• visualizeTargets bool flag
• visualizedLinksFrame list of model frames to visualize
• linksFrameScalingFactor scale factor for the model frames
• visualizedTargetsFrame list of target to visualize
• targetsFrameScalingFactor scaling factor for the targets frame

The frames are visualized as follow:

• pose and poseAndVelocity targets: position and orientation of the target
• position and positionAndVelocity targets: position of the target, orientation of the associated link
• orientation and oritentationAndVelocity targets: position of the associated link, orientation of the target

reference code for this can be found in https://github.com/robotology/human-dynamics-estimation/blob/dfe74f86c0c55912ad6b9d44dfde719584101e41/modules/HumanStateVisualizer/src/main.cpp#L663-L678

An example of visualization is the following where you can see:

• hands and pelvis frame
• hands and pelvis pose targets

https://user-images.githubusercontent.com/35487806/146382494-f7ad118e-c68c-4a19-8c40-1bad776fa6e8.mov

[lrapetti]

cc @S-Dafarra @RiccardoGrieco

[lrapetti]

Targets visualization was achieved in add-different-target-types branch, We can close this issue, and I will open a new one for merging the changes in master