Navigation Features

[SimoneMic]

Other Features:

• Separated the UnicycleState struct to a separate header file. In this way it's easier to re-utilize the same struct in different files.
• Added a public method getSaturationLimits in UnicycleBaseController to extract the used speed limits.

Navigation Features:

• Created public method setNavigationPath(std::vector<UnicycleState> path) to set the desired path to interpolate and extract footsteps from. i.e. the path to follow.
• A new controller has been added: UnicycleNavigationController that, given a path of UnicycleState to follow, drives the virtual unicycle to exactly match it. Treating it as an omnidirectional drive, like the UnicycleDirectController.
• Implemented changes on UnicyclePlanner

[S-Dafarra]

Another comment would be to edit the test https://github.com/robotology/unicycle-footstep-planner/blob/c7ef099ba9f6b65e92bd580e90b612989a3911c6/tests/UnicycleTest.cpp to at least check that the code does not segfault

[SimoneMic]

Thanks @SimoneMic, it looks good to me now! Are you interested in the commit history, or I can squash merge?

@S-Dafarra No you can squash merge everything! thanks!