Improve paramHelp library

- add isInitDone method
- add closePorts method
- add deleteParameters method
- add optional parameter "int newSize" to method linkParam
- add method registerParamSizeChangedCallback to ParamHelperClient
- implement methods setRpcParam, getRpcParam, sendRpcCommand
Add "get covariance" method to RecursiveLinearEstimator
Add output streaming params to Identification module

- add standard deviation of estimates to output streaming parameters
Add "contact excitations" to motorFrictionExcitation

- implement contact excitations
- add input parameter "motor friction identification name" that is the
name of the identification module to connect to
- add ParamHelpClient to read parameter std dev from identification
module
- remove useless include