[speech] Add robocup grammar

[ar13pit]

Deadline: End of January 2019

This should be worked upon only after the closing of #668 as building of generic English speech recognition system should come first.

Also, the current grammar parser might have to be either rewritten or patched to work with the new speech recognition system.

[ar13pit]

Reference to @alberth 's comment.

Try to use the grammar parser directly with the system. As Kaldi works on FSTs, try to generate the graph using grammar parser.

[SamAlexandrov]

As a first step, I'm looking at how to use OpenFST to convert the grammar configuration file to G.fst model.

[ar13pit]

Need to merge the grammar parser and some functions from dragonfly speech recognition to convert the grammar file *.fcfg into files required to make G.fst