Converge to a single library function for checking spikes

[gabrielenava]

Follows #130

At the moment we have 3 different functions for checking encoder spikes:

• checkSpikes already deprecated as explained in the function itself:

   disp('WARNING: checkSpikes is deprecated and it will be removed in a future release. Use checkInputSpikes instead.') 

• checkInputSpikesWithSimulator which is compatible with floatingBaseBalancingTorqueControlWithSimulator only

• checkInputSpikes for all other controllers.

converging to a single function is not difficult, but all users should be notified as this is a change in the WBC library and may impacts not only whole-body-controllers but also other projects.

cc @traversaro @CarlottaSartore @nunoguedelha

[gabrielenava]

closing as not planned.