Change sensor, state and actuator interfaces

- generalize sensor interface to make it scale better with respect to
the number of sensor types
- modify accordingly state interface
- change actuator interface to reduce the number of methods
- adapt locomotionControl and wbi test
Clean up code of wbi(Icub)

- add file wbiIcubUtil.h
- remove useless include
Change namespace wbiy into wbiIcub
just a print
Merge branch 'iss3'