Add reset rpc command to motorFrictionExcitation

The reset command allows the user to restart the excitation from scratch
without having to quit and relaunch the module.
Add reset method to recursiveLinearEstimator

This new method allows to reset the state of the estimation process.
Add new features to WBI

- add torque derivative estimation
- add conversion from joint name to wbi joint id
Just comments
Just comments
Improve motorFrictionIdentification

- add estimation of torque derivative
- discard samples if torque derivative is below threshold AND joint
velocity is below threshold
- add rpc commands "activate joint" and "deactivate joints", which work
both with joint ID and joint name
- add torque derivative to output monitor parameters
- add torque derivative to yarpscope plot
- add reset command to reset identification status
- add prediction of torque as monitor parameter