Align code to the master of iDynTree for Stack-of-Task MAP computation

[claudia-lat]

The Stack-of-Task (SoT) MAP code in this repo is not aligned with the master branch of iDynTree.
In general, the SoT code computes the human whole-body kinematics and dynamics estimation as a combo of these two sequential tasks (details in this paper), as follows:

The alignment change concerns the way in which the two tasks implementation is defined, according to this robotology/idyntree#991.

[RiccardoGrieco]

Useful similar pieces of code:

Task 1 (Non collocated wrench estimation)

Setup of the berdy option/helper:
https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanWrenchProvider/HumanWrenchProvider.cpp#L841-L848

Computation and use of the Rate of Change of Momentum (no acceleration or velocity terms):
https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanWrenchProvider/HumanWrenchProvider.cpp#L426-L445

https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanWrenchProvider/HumanWrenchProvider.cpp#L1182-L1189

Task 2 (Full dynamics)

Setup of the berdy option/helper

https://github.com/robotology/human-dynamics-estimation/blob/3384a0bd6b8411c865e38136a30ece69241ce7c7/devices/HumanDynamicsEstimator/HumanDynamicsEstimator.cpp#L932-L941

[lrapetti]

The code was merged in devel since a while (robotology/idyntree#991), and then released in master with iDynTree v6.0.0 (see https://github.com/robotology/idyntree/releases/tag/v6.0.0)

[lrapetti]

The code was merged in devel since a while (robotology/idyntree#991), and then released in master with iDynTree v6.0.0 (see https://github.com/robotology/idyntree/releases/tag/v6.0.0)

Sorry, the issue actually refers to the MAPest code implemented in Matlab. @claudia-lat do you have updates on this? Was the code updated?

[RiccardoGrieco]

The code was merged in devel since a while (robotology/idyntree#991), and then released in master with iDynTree v6.0.0 (see https://github.com/robotology/idyntree/releases/tag/v6.0.0)

Sorry, the issue actually refers to the MAPest code implemented in Matlab. @claudia-lat do you have updates on this? Was the code updated?

Friendly ping @claudia-lat

[claudia-lat]

The updated version is used in https://github.com/ami-iit/component_cht-intention-retargeting/tree/versionWithMAP/code.
The main of this repo should be aligned to this one.